| Summary: | 碩士 === 國立臺灣科技大學 === 機械工程系 === 99 === The objective of this research is to design an autonomous shooting system by using an industrial robot arm with a shooting device. It can track and shoot a balloon in the 3D space. The shooting system is based on the position-based visual servoing technique. A target and its coordinate in the space can be detected by a stereo vision system which is fixed beside the robot arm. The camshift algorithm is used to track and filter the target and stereo vision to calculate the position in the space. The Kalman filter is used to predict the position of the target, estimate the target velocity and the compensating time, and define the position which the robot arm should move to. Finally, with forward kinematic, Jacobian matrix and virtual arm calculation, we get the angular command of the robot arm, capable of tracking and shooting target, can be obtained. In experiments, the results show the shooting system can guide the robot arm to track and shoot the target successfully.
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