Design and Implementation of Machine Vision Based Humanoid Robot Arm

• Main Authors: Chi-Wen Liu, 劉繼文
• Other Authors: Chih-HuiChiu
• Format: Others
• Language: zh-TW
• Online Access: http://ndltd.ncl.edu.tw/handle/02529702539164171279

碩士 === 元智大學 === 電機工程學系 === 100 === This study describes the design and implementation of a stereo vision-based robot arm system. First, the hardware architecture and the mechanism of the seven degree of freedom (DOF) robot arm are described. The actuators of robot arm are the seven DC motors with potentiometer. The angle of rotation is calculated by voltage signal change. Second, the stereo vision system can estimate the position of the world coordinate system. A camera calibration algorithm is used for estimating two wed cameras’ intrinsic and extrinsic parameters. Given the desired position and orientations, the desired angle of joints can be solved by using inverse kinematics (IK). In order to achieve tracking control, the fuzzy logic controller (FLC) is implemented. Finally, the experiment results demonstrate tracking performance.