A New Approach to Control the Position of Joint Arm Robot Using Image Background Subtraction Technique

  • Pramod Kumar Thotapalli
  • CH R Vikram KumarEmail author
  • B Chandra Mohana Reddy
Conference paper
Part of the Lecture Notes on Multidisciplinary Industrial Engineering book series (LNMUINEN)


Vision-based systems enhance the degree of autonomy of the robot in manufacturing applications and help to increase productivity. Computer vision systems are used to perform multiple tasks by using various algorithms in the view field. In this paper, a new approach based on image subtraction technique using Gaussian mixture model (GMM) to control the position of joint arm robot for pick and place operations to sort the objects is presented. In this work, a simple vision system is used to capture the images of the robot and objects placed within the work volume of the robot, and these images are processed continuously using GMM background subtraction algorithm to find the coordinates of the objects with reference to robot base. These coordinate points are used to pick the object and place in the desired location. In this work, a prototype of 3R servo robot linkage system is fabricated to evaluate the algorithm using web camera, and a program is developed in MATLAB.


Robot Vision system Pick and place operation GMM 



This project is funded by AICTE New Delhi under Research Promotion Scheme.


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© Springer Nature Singapore Pte Ltd. 2020

Authors and Affiliations

  1. 1.JNTUA Research CentreNBKRISTVidyanagarIndia
  2. 2.Department of MechanicalNBKRISTVidyanagarIndia
  3. 3.Department of MechanicalJNTUACEAnantapuramuIndia

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