Mechanism Design and Vision Feedback Control of a Multi-axis Robot Arm Platform
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 t...
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ndltd-TW-101NTOU54420352015-10-13T22:51:58Z http://ndltd.ncl.edu.tw/handle/46899939289397086783 Mechanism Design and Vision Feedback Control of a Multi-axis Robot Arm Platform 多軸機械手臂平台之機構設計與電腦視覺回授控制 Che-Wei Chung 鍾哲瑋 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. Chih-Yung Cheng 鄭智湧 2013 學位論文 ; thesis 93 zh-TW |
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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.
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Chih-Yung Cheng |
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Chih-Yung Cheng Che-Wei Chung 鍾哲瑋 |
author |
Che-Wei Chung 鍾哲瑋 |
spellingShingle |
Che-Wei Chung 鍾哲瑋 Mechanism Design and Vision Feedback Control of a Multi-axis Robot Arm Platform |
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Che-Wei Chung |
title |
Mechanism Design and Vision Feedback Control of a Multi-axis Robot Arm Platform |
title_short |
Mechanism Design and Vision Feedback Control of a Multi-axis Robot Arm Platform |
title_full |
Mechanism Design and Vision Feedback Control of a Multi-axis Robot Arm Platform |
title_fullStr |
Mechanism Design and Vision Feedback Control of a Multi-axis Robot Arm Platform |
title_full_unstemmed |
Mechanism Design and Vision Feedback Control of a Multi-axis Robot Arm Platform |
title_sort |
mechanism design and vision feedback control of a multi-axis robot arm platform |
publishDate |
2013 |
url |
http://ndltd.ncl.edu.tw/handle/46899939289397086783 |
work_keys_str_mv |
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