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• Main Authors: Zi-Yi Yang, 楊子毅
• Other Authors: Pi-Cheng Tung
• Format: Others
• Language: zh-TW
• Published: 2019
• Online Access: http://ndltd.ncl.edu.tw/handle/9hcwm9

碩士 === 國立中央大學 === 機械工程學系 === 107 === With the development of computer and image processing technology, image vision is widely used in industrial automation. It is important for testing, positioning and supervision. The robotic arm is a common automation equipment in the industry. It combines with the image to establish a machine vision system. It has a wide range of activities, high plasticity, and can adapt to different environmental conditions. This research used a single camera and robotic arm to create 3D stereoscopic images, and the position and direction of the screw hole were measured to complete the positioning control of the robot arm. This research used non-contact stereo vision without the need for a laser source. The three-dimensional model of the screw hole is established by the principle of stereo vision to restore the lost depth information. In the experimental verification, the MITSUBISHI RV-2SD, six-axis robotic manipulator and a CCD camera were used to realize the stereo vision system. The Human Machine Interface is designed in C++ to control the manipulator lock screw and automatically attach the screw to the screw hole in the curved surface.