Browsing by Author "Youssef, Abdelrahman"

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Investigation of Using ANN and Stereovision in Delta Robot for Pick and Place Applications
(International Information and Engineering Technology Association, 2021-10) Youssef, Abdelrahman; Bayoumy, Amgad M; Atia, Mostafa R.A
Although the Delta robot has many applications in pick-and-place operations, some problems limit its use. The difficult programming is one of these limitations. Parallel robot programming depends on solving the forward and inverse kinematics equations of the robot. These equations relate the geometric parameters, such as length and angle of every robot arm, to the position of the end effector and vice versa. The kinematic equations are hard to be derived. Moreover, any change in the robot geometry, due to a change in the application condition, requires that new kinematic equations be derived. This needs a very sophisticated and specialized programmer, who is not always available. Consequently, this problem limits the use of parallel robots. This paper discusses the use of ANN and embedded systems in addition to stereo vision to command delta robot in pick-and-place operations. The method is implemented and tested giving satisfactory results. © 2021. All Rights Reserved.
Investigation of Using ANN and Stereovision in Delta Robot for Pick and Place Applications
(IIETA, 05/10/2021) Youssef, Abdelrahman; Bayoumy, Amgad M; Atia, Mostafa R.A
Although the Delta robot has many applications in pick-and-place operations, some problems limit its use. The difficult programming is one of these limitations. Parallel robot programming depends on solving the forward and inverse kinematics equations of the robot. These equations relate the geometric parameters, such as length and angle of every robot arm, to the position of the end effector and vice versa. The kinematic equations are hard to be derived. Moreover, any change in the robot geometry, due to a change in the application condition, requires that new kinematic equations be derived. This needs a very sophisticated and specialized programmer, who is not always available. Consequently, this problem limits the use of parallel robots. This paper discusses the use of ANN and embedded systems in addition to stereo vision to command delta robot in pick-and-place operations. The method is implemented and tested giving satisfactory results.
Modeling and Simulation of 3DOF Parallel Manipulator Using Artificial Neural Network
(IOP PUBLISHING LTD, 2019) Youssef, Abdelrahman; Bayoumy, Amgad M; Rostom, Mostafa
Parallel Robot (PR) has shown its ability to be precise in its movement. Actuators move simultaneously to achieve the required target, on top of that its payload is much greater than what a serial robot can withstand. To determine workspace of the robot with known angles Forward kinematics has to be introduced which, bring a lot of difficulty as it requires the solution of multiple coupled nonlinear algebraic equations. Those equations bring multiple valid solutions. Those solutions could lead to different locations. As it is not going to make the pick and place for PR will be easier. This paper will discuss a numerical method that calculates the Forward Kinematics for PR. This method uses Artificial Neural Network which relay on training with a certain number of iterations. The set of data to be used in the training can be obtained from PR simulation. This method will serve to know workspace around PR as it will help it to pick the target object.