Desarrollo de un módulo educativo para la clasificación de objetos utilizando un brazo robótico y visión artificial

Abstract

This thesis project addresses the "Development of an Educational Module for the Classification of Objects Using a Robotic Arm and Artificial Vision". It focuses on the development of a control system for a robotic arm capable of classifying geometric objects using artificial vision. The methodology focuses on the integration of a Raspberry Pi programmed in Python through the Thonny function, connected to peripherals through an HMI interface. The use of Tkinter stands out for the graphical interface of the menu and the control of the robotic arm from different axes of movement. Separate routine classes were designed to address aspects such as forward kinematics, inverse kinematics, and computer vision. The results show an accuracy in the position of the end effector of (90 % compared to the results of the simulation software. While the recognition and classification of objects considering color and shape had an effectiveness of 90 % and classification of objects 95%.