| Summary: | 碩士 === 國立臺北科技大學 === 自動化科技研究所 === 103 === In this study, a vision-servo system is developed to control the Delta robot to achieve a pick and place task with the parts in a conveyer. First, the forward and backward kinematics of the Delta robot is derived to determine the workspace of the working space. Second, a Visual C ++ program is developed to use the image recognition to identify the parts in the conveyor. For the image processing procedures, Canny and Sobel edge detection methods are studied in this paper. Based on the experimental results, Canny edge detection is better than the Sobel method in this case. Finally, image processing, image registration and motion controller movements are integrated into one system to perform the vision-servo pick-and-place the parts in the conveyor automatically.
|
|---|
