| Summary: | 碩士 === 臺灣大學 === 工程科學及海洋工程學研究所 === 98 === In this thesis, a stereo vision 3D position measurement system for the three-axial pneumatic parallel mechanism robot arm is presented. The stereo vision 3D position measurement system aims to measure the 3D trajectories of the end-effector of the three-axial pneumatic parallel mechanism robot arm.
In order to track the end-effector of the robot arm, the circle detection algorithm is used to detect the desire target and the SAD algorithm is used to track moving target and to search the corresponding target location along the conjugate epipolar line in the stereo pair. After camera calibration, both intrinsic and extrinsic parameters of the stereo rig can be obtained so that images can be rectified according to camera parameters, and through the use of the epipolar rectification, the stereo matching process is reduced to a horizontal search along the conjugate epipolar line. Finally, 3D trajectories of the end-effector are computed by stereo triangulation.
The experiment results show that the stereo vision 3D position measurement system proposed in this thesis can successfully track and measure the fifth-order polynomial trajectory, sinusoidal trajectory, 3D straight-line trajectory, and 3D circle trajectory of the end-effector of the three axial pneumatic parallel mechanism robot arm.
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