Mechanism Design and Vision Feedback Control of a Multi-axis Robot Arm Platform

• Main Authors: Che-Wei Chung, 鍾哲瑋
• Other Authors: Chih-Yung Cheng
• Format: Others
• Language: zh-TW
• Published: 2013
• Online Access: http://ndltd.ncl.edu.tw/handle/46899939289397086783

碩士 === 國立臺灣海洋大學 === 電機工程學系 === 101 === The thesis is focused on the construction of a multi-joint robot arm, which is integrated with the video camera for certain visual servoing tasks. Compared with the traditional robot arm without vision, which is planned in advance, this robot arm has the real time decision capability. The mechanism of this robot arm is designed with multiple degrees of freedom and is controlled by embedded controllers according to the images captured by a digital camera. The system uses an embedded control board, Arduino Mega2560, whose multiple digital I/O ports and serial ports can be used for motor control and data transfer. DC motors in the system are all equipped with incremental optical encoders for real-time control of arm position. The gripper is actuated by AI motors produced by Robotis Corporation. The captured images are processed by the PC using OpenCV library and then the robot arm is controlled to perform the autonomous tasks under the Visual Studio environment.