Automatic Robot Obstacle Avoidance Using Real-Time Visual Servoing

• Main Authors: Jeng-Wei Wu, 吳振偉
• Other Authors: Wen-Chung Chang
• Format: Others
• Language: zh-TW
• Published: 2001
• Online Access: http://ndltd.ncl.edu.tw/handle/24577299973960264291

碩士 === 國立東華大學 === 電機工程研究所 === 89 === The research of the thesis concerning robot visual servoing systems focus on how to avoid collision with obstacles in the work space, while precisely positioning a robot manipulator. In particular, visual feedback information is processed to recognize the obstacle in the workspace. Then, the proposed algorithm of obstacle avoidance is employed to drive the robot manipulator along the direction of avoiding obstacle. When the work environment is dangerous or harmful to human beings, such system is especially important. The system imitates human hand-eye system, which can avoid collision with arbitrary shape and arbitrary moving obstacles, and precisely reach the target position.