Актуальные проблемы в машиностроении. Том 13. № 1-2. 2026 Технологическое оборудование, оснастка и инструменты ____________________________________________________________________ 61 DEVELOPMENT OF A SOFTWARE AND HARDWARE VISION SYSTEM FOR A COLLABORATIVE MANIPULATOR Borisov M. A., Ph.D. (Engineering), Associate Professor, e-mail: borisovmgou@mail.ru Bezmaternykh N. I., Graduate students, e-mail: kolayayaya@mail.ru I.N. Ulyanov Chuvash State University, 15 Moskovsky Prospekt, Cheboksary, 428015, Russian Federation Abstract Robotic systems are finding increasingly widespread application in both industrial and educational environments. One of the promising directions of their development is the integration of machine vision systems that provide automatic determination of object positions within the workspace and generation of control actions for the executive mechanism. The object of this study is the RoboPro RC5 robotic system, which is a collaborative manipulator. The paper considers modernization of the system through the introduction of a software-and-hardware machine vision system for object detection; determination of object center coordinates; transfer of the calculated parameters to the robot control system. A modular architecture of the system was developed, including an image acquisition module, an image processing module, a workspace calibration module, and a robot controller interaction module based on the standard Python API. A planar calibration method using four reference points was applied to transform coordinates from the camera coordinate system to the robot coordinate system. Experimental verification of the system demonstrated reliable detection of white cubes in the workspace, with an average deviation between the calculated grasp point and the point actually reached by the robot of 0.058 mm along the X axis and 0.016 mm along the Y axis, as well as a grasp success rate of 95.16% with an average cycle time of 19.97 s. The obtained results confirm the operability of the proposed solution and indicate its applicability for improving educational robotic workcells and for further transition to applied industrial automation tasks. Keywords collaborative robot, machine vision, robotic system, calibration, coordinate transformation, object grasping, automation.
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