Control Design of Object Classification for An Intelligent Vehicle Combining Robot Arm with Computer Vision

碩士 === 國立暨南國際大學 === 電機工程學系 === 103 === In daily tasks of classification, we often employ human power or robotic arms, and these systems can only be used in a limited range or they may cause unnecessary consumption of human resources. Therefore, if we can give robotic arm abilities of moving and look...

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Main Authors: Hsu, Hsiang-Yung, 許翔詠
Other Authors: Lin, Jung-Shan
Format: Others
Language:en_US
Published: 2015
Online Access:http://ndltd.ncl.edu.tw/handle/12451968911920476760
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spelling ndltd-TW-103NCNU04420192016-08-28T04:12:10Z http://ndltd.ncl.edu.tw/handle/12451968911920476760 Control Design of Object Classification for An Intelligent Vehicle Combining Robot Arm with Computer Vision 結合機械手臂與電腦視覺的智慧型自走車之物體分類控制設計 Hsu, Hsiang-Yung 許翔詠 碩士 國立暨南國際大學 電機工程學系 103 In daily tasks of classification, we often employ human power or robotic arms, and these systems can only be used in a limited range or they may cause unnecessary consumption of human resources. Therefore, if we can give robotic arm abilities of moving and looking, they can play a greater role in the job to achieve the purpose of object classification and save human power. This thesis presents an intelligent vehicle with object classification, and lets the robotic arm overcome the obstacle of distance to execute the pick-and-place action. The thesis is divided into three main parts: mobile vehicle, robotic arm and image processing. Combining these three parts to reach the pick-and-place task for object classification is our major control objective. For this purpose, the computer must analyze images from camera, and transmit the control instructions to the vehicle for moving or the robotic arm for gripping the correct object and putting it into the desired destination. For the control design of systems, inverse kinematics is used to calculate the movement of a robotic arm, and the computer analyzes and calculates the coordinate of objects to manipulate the robotic arm. In the part of image processing, color space of YCbCr, pixel maximum area algorithm and template matching algorithm are employed to determine the position and relative distance between object and platform. The major contribution of this thesis is to integrate the separate systems together for object classification, even if the vehicle is not in the front of platform or in the situation that the object is not unique. As long as the system can capture the images of platform or objects to recognize and grip the object correctly, the purpose of object classification would be achieved successfully. Lin, Jung-Shan 林容杉 2015 學位論文 ; thesis 51 en_US
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language en_US
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description 碩士 === 國立暨南國際大學 === 電機工程學系 === 103 === In daily tasks of classification, we often employ human power or robotic arms, and these systems can only be used in a limited range or they may cause unnecessary consumption of human resources. Therefore, if we can give robotic arm abilities of moving and looking, they can play a greater role in the job to achieve the purpose of object classification and save human power. This thesis presents an intelligent vehicle with object classification, and lets the robotic arm overcome the obstacle of distance to execute the pick-and-place action. The thesis is divided into three main parts: mobile vehicle, robotic arm and image processing. Combining these three parts to reach the pick-and-place task for object classification is our major control objective. For this purpose, the computer must analyze images from camera, and transmit the control instructions to the vehicle for moving or the robotic arm for gripping the correct object and putting it into the desired destination. For the control design of systems, inverse kinematics is used to calculate the movement of a robotic arm, and the computer analyzes and calculates the coordinate of objects to manipulate the robotic arm. In the part of image processing, color space of YCbCr, pixel maximum area algorithm and template matching algorithm are employed to determine the position and relative distance between object and platform. The major contribution of this thesis is to integrate the separate systems together for object classification, even if the vehicle is not in the front of platform or in the situation that the object is not unique. As long as the system can capture the images of platform or objects to recognize and grip the object correctly, the purpose of object classification would be achieved successfully.
author2 Lin, Jung-Shan
author_facet Lin, Jung-Shan
Hsu, Hsiang-Yung
許翔詠
author Hsu, Hsiang-Yung
許翔詠
spellingShingle Hsu, Hsiang-Yung
許翔詠
Control Design of Object Classification for An Intelligent Vehicle Combining Robot Arm with Computer Vision
author_sort Hsu, Hsiang-Yung
title Control Design of Object Classification for An Intelligent Vehicle Combining Robot Arm with Computer Vision
title_short Control Design of Object Classification for An Intelligent Vehicle Combining Robot Arm with Computer Vision
title_full Control Design of Object Classification for An Intelligent Vehicle Combining Robot Arm with Computer Vision
title_fullStr Control Design of Object Classification for An Intelligent Vehicle Combining Robot Arm with Computer Vision
title_full_unstemmed Control Design of Object Classification for An Intelligent Vehicle Combining Robot Arm with Computer Vision
title_sort control design of object classification for an intelligent vehicle combining robot arm with computer vision
publishDate 2015
url http://ndltd.ncl.edu.tw/handle/12451968911920476760
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