Application of Pattern Recognition and Position Control to Smart Phone Automatic Test System

• Main Authors: Yang-Wu Fan, 范揚武
• Other Authors: Jih-Gau Juang
• Format: Others
• Language: en_US
• Published: 2013
• Online Access: http://ndltd.ncl.edu.tw/handle/63860285557227775462

碩士 === 國立臺灣海洋大學 === 通訊與導航工程學系 === 101 === With the progress of human civilization, as well as lifestyle changes, intelligent robots are gaining influence in human daily life. Robots can provide many services and helps to human, such as providing entertainment, life safety, health and other aspects of the service. Different types of robots have been developed in recent years. For a variety of needs, the development of robot system combines theoretical basis of many professional knowledge, such as path planning, visual image processing technology, body positioning, obstacle avoidance techniques, and arm control. Scientists try to use different algorithms on different applications. Intelligent robots consist of mechanics, electronics, automation, control, and communications technologies. Many researchers have tried to convert expertise into the robot systems so that the human-robot interaction in daily life can be more harmonious, and robot will have ability to finish various tasks. This paper presents an application of a 4 degrees-of-freedom articulated robot to a smart phone automatic test system. Intelligent scheme based on fuzzy logic theory, pattern recognition and HSL image process are proposed to control a robot arm for position control. The Denavit–Hartenberg model (D-H) is first used to analyze the robot arm movement. Then the forward kinematics is used to identify the relationships for each joint of the robot arm. The robot uses hierarchical fuzzy control to solve the problem regarding inverse kinematics for the industrial articulated robot. The human-machine interface is handled by the Labview 2010, and then uses the Matlab codes to the controller. With the webcam, coordinate is provided to the fuzzy controller, the robot arm can be moved to the desired position. In image processing, we found that the interference of light intensity is very troublesome. Therefore, we transform the RGB color space to the HSL color space which can significantly reduce the impact of light. Then, use match pattern to recognize the smart phone buttons. Vision Builder for Automated Inspection allows one to easily configure and benchmark a sequence of visual inspection steps as well as deploy the visual inspection system for automated inspection. The experimental results show that the proposed control scheme can drive the robot arm to press the desired buttons of the tested smart phone successfully.