Design and Vision-Based Control of a Low-Cost SCARA Robot

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dc.contributor.authorAdar, Nurettin Gökhan
dc.contributor.authorÖzden, Mustafa
dc.date.accessioned2026-02-08T15:08:06Z
dc.date.available2026-02-08T15:08:06Z
dc.date.issued2025
dc.departmentBursa Teknik Üniversitesi
dc.description.abstractSCARA robots are widely used in industrial automation due to their high precision and speed, particularly in pick-and-place operations. In addition to conventional programming approaches, alternative vision-based control methods have gained interest to enhance flexibility and efficiency in robotic applications. This study presents the design and implementation of a Position-Based Visual Servoing (PBVS) for the SCARA robot system capable of detecting and manipulating objects in real-time. The proposed system consists of a fixed overhead camera, a SCARA robot, and Python-based control software. The software integrates image processing algorithms, kinematic calculations, and motor control, enabling the robot to autonomously identify objects, compute their positions, and execute pick and place tasks. To enhance object detection accuracy, Kuwahara filtering, Canny edge detection, morphological transformations, and connected component analysis were applied. Experimental results demonstrated that the combination of Kuwahara filtering and Canny edge detection achieved the lowest MSE error (8.45%), ensuring precise object localization. Furthermore, inverse kinematics was employed to generate accurate joint movements, allowing smooth and reliable grasping operations. The system was tested through 100 pick-and-place trials, achieving a 100% grasping success rate when Kuwahara filtering was applied. The experimental findings confirm that vision-based control significantly improves SCARA robot performance, making it suitable for automated assembly, material handling, and quality control applications.
dc.identifier.doi10.17350/HJSE19030000357
dc.identifier.endpage120
dc.identifier.issn2149-2123
dc.identifier.issn2148-4171
dc.identifier.issue3
dc.identifier.startpage111
dc.identifier.trdizinid1354143
dc.identifier.urihttps://doi.org/10.17350/HJSE19030000357
dc.identifier.urihttps://hdl.handle.net/20.500.12885/4788
dc.identifier.volume12
dc.indekslendigikaynakTR-Dizin
dc.language.isoen
dc.relation.ispartofHittite Journal of Science and Engineering
dc.relation.publicationcategoryMakale - Ulusal Hakemli Dergi - Kurum Öğretim Elemanı
dc.rightsinfo:eu-repo/semantics/openAccess
dc.snmzKA_TR-Dizin_20260207
dc.subjectImage Processing
dc.subject: SCARA Robot
dc.subjectVision-Based Control
dc.subjectKuwahara Filtering
dc.subjectReal-Time Robotic Application
dc.titleDesign and Vision-Based Control of a Low-Cost SCARA Robot
dc.typeArticle

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