| Summary: | 碩士 === 國立暨南國際大學 === 電機工程學系 === 101 === Applications of intelligent robot or vehicle systems have become more and more important and popular in our daily life. This thesis can be divided into three main directions for the design of intelligent vehicle, including trajectory planning of mobile vehicle, position control of robot arm system and application of image recognition. For the trajectory planning of vehicle system design, the camera installed on the clip of robot arm is applied to capture images with appropriate correction. The moving angle of vehicle is calculated by analyzing the captured images. And then, the vehicle is able to be manipulated in order to achieve the purpose of object tracking.
For the position control of robot arm, the mathematical model is developed by understanding the movement pattern. The basic movement of robot arm system is constructed by using the method of forward and inverse kinematics. The information of object obtained by appropriate image analysis could be employed to obtain the angle of rotation for each joint, so the desired goal is achieved by correct motor operation. In the part of image recognition, useful images are captured by the camera installed on the clip of robot arm. These images must be effectively analyzed to obtain the position, shape and color information of the object. The utilization of image analysis is applied for vehicle moving, object grabbing and object placing. The part of vehicle moving is to find the desired angle to track objects. The parts of grabbing and placing objects are related to the analysis of the information of bricks and sockets, respectively.
As a result, the intelligent vehicle has the potentials to move and stop in front of the target wooden box. And then, after the robot arm grabs the brick placed on the wooden box, the vehicle would turn back to its starting point. Finally, the robot arm places the brick into the socket with correct color and shape. In addition, the implementation of intelligent vehicle design is given to illustrate the successful achievement of the pick-and-place control objective.
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