| Summary: | 碩士 === 大同大學 === 機械工程學系(所) === 96 === This article describes the tag image of operator’s limbs which is received through webcam, and takes the tag images as the image joystick to control the telerobotic.
The technique of image joystick comes from the retrieving tag images through webcam. The tag images should be stuck on the center and edge of the operator’s hat and the end of his hand. When the limbs liberate (such as the rotation of the head or motion of the hand) and the tag image librates as well.
Following is the procedure of searching tag images and calculating the angles of the robot’s motors.
(1) Applying the different eigenvector of tag images, it can search the pixels which correspond with these environments through webcam.
(2) To extract the target tag image by color morphology, then calculate the center point of the tag image.
(3) We can evaluate the corresponding angle of operator’s shoulder and elbows rotation and the liberation range of his head by inverse dynamics and coordinates translation and shift.
(4) Using program calculate the corresponding angle of motor, we control the telerobotics by network.
Then the telerobotics will modify the action of the remote operator, so it is able to be a telerobotics controlled by image joystick.
The features of this image joystick used image tracing system as follow:
(1) Applying the complex environment.
(2) Approaching the multi-objects.
(3) Tracking error is under 2 pixels.
(4) Telerobotic reaction is only 100 ms.
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