Design of a Binocular Robot Head and Its Application to Visual Servoing

• Main Authors: Lee, Gwo-Jiunn, 李國駿
• Other Authors: Tsay Tsing-Iuan
• Format: Others
• Language: zh-TW
• Published: 1998
• Online Access: http://ndltd.ncl.edu.tw/handle/86966993134681691384

碩士 === 國立成功大學 === 機械工程學系 === 86 === Most robot systems used in the industry today are programmed specifically for the task they perform. To increase the flexibility of robots itis desirable to utilize visual feedback information to adapt its action to changes in the environment. Active vision is good to imitate human visual behavior through a visual servo system and stereo cameras. The objective of this research is to apply a active vision system to grasping a moving target. In this paper, we designed and constructed a binocular robot head as a visual servo mechanism, and presented structure of a active vision integrated robotic system. In order to track a moving target smoothly, gray theory will be applied to predict the trajectory of the target. Finally, the theoretical results will be experimentally verified.