Visual Servoing Design for a Continuum Robot Using a Stereo Camera

• Main Authors: Lin, Yu-Hsin, 林雨新
• Other Authors: Song, Kai-Tai
• Format: Others
• Language: zh-TW
• Published: 2017
• Online Access: http://ndltd.ncl.edu.tw/handle/bt9gu3

碩士 === 國立交通大學 === 電控工程研究所 === 105 === This thesis develops a continuum robot and proposes a visual servoing algorithm to control the continuum robot to track an object. The system provides the depth information using a stereo camera. After a target object is assigned, the continuum robot moves to track the target continuously until the velocity converges. When the velocity of the visual servoing converges, the system will control the continuum robot and the 6-DoF robot arm to grasp the target. Several experiments validate the proposed method of visual servoing by tracking and grasping a target using the continuum robot.