Vision Guidance of Robotic Manipulator System Based on Linux

• Main Authors: CHIEN,CHUNG-YIN, 簡宗胤
• Other Authors: LEE,PO-MING
• Format: Others
• Language: zh-TW
• Published: 2018
• Online Access: http://ndltd.ncl.edu.tw/handle/nq2485

碩士 === 南臺科技大學 === 電子工程系 === 106 === This thesis proposes to use Raspberry Pi 3 as the core of the automatic system with one webcam to input videos and establish real-time images. In addition, it uses open source computer vision library and camera parameters as a measureing method to get real-time images by image processing, coordinate system conversion and pin-hole imaging principles, then it can not only show the location of the calibration and the center of the object coordinates while the object is stationary or moving but also calculate the distance between the center of the window. About the robotic manipulator, it is made by 4-DOF manipulator system and emulates industrial robot to establish low cost and high efficiency. In order to make the manipulator accomplishes missions, it is based on D-H parameters matrix and geometry kinematics to analyze of forward-inverse kinematic for the robotic manipulator. The Jacobian matrix, Newton-Euler and Lagrange equation are used to describe the angular velocity, angular acceleration and torque to force equation of the robotic arm. The trajectory planning is used to describe the robotic location, velocity and acceleration moving for the cubic polynomial and 4-3-4 order polynomials, and then show the mobile waveform and motion process of the manipulator with Matlab. By the way, this thesis designs the control board with Raspberry Pi 3 by the circuit software in the system integration, and the conveyor, pump control circuit system and conveyor’s control circuit system.