| Summary: | 碩士 === 國立臺灣科技大學 === 機械工程系 === 106 === In this thesis, a five degrees of freedom industrial robotic arm is integrated with a 3D vision system is worked to carry out the painting work. The depth camera (LIPSedge DL) is used to capture image information for creating an environmental point cloud map and analyzing target information,then the object position data is obtained by doing calculation and coordinate conversion.Finally,the position data is sent to manipulator through UART for executing the wall painting with force impedance control.
The image system consist of TOF(time of flight) camera, computer and image processing libraries which include OpenCV、PCL(Point Cloud Library) 、OpenNI. The SDK of LIPSedge DL is also used to rectify image.By building point cloud data map,three-dimensional coordinates transformation, and image processing, the position data of interested points are obtained. Then PC will send the position data to robotic arm FPGA controller by UART.
The Altera FPGA was chosen as the robotic arm control architecture. Its main function is to receive the position and posture data from PC and monitor the robotic arm motion. The Nios II development board uses digital hardware circuits to implement signal acquisition and output control function, including decoder, filter, PWM, I2C, and SDRAM controller etc. User interface, kinematics, inverse kinematics, FSMC , and impedance force control were written as software program in Nios II.
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