| Summary: | 碩士 === 國立東華大學 === 電機工程研究所 === 89 === Based on the theory of two-camera visual servoing, a practical control system design for planar contour following of robotics systems is pesented. Particularly, this robot task can be accomplished with the proposed image-based controller even when the correspondance of the contour in the two images is not known. A number of techniques are required for implementing such a task including ''image processing'''', ''featuer tracking'''', ''contour recognition'''', ''camera calibration'''' and ''controller design''''. In the thesis, these technologies are employed to perform some fundamental tasks in the real world that demenstrate potential application in the industry.
In the experiments, two types of tools for executing the contour following are considered, one is a pencil with tip contacting the contour and the other is a laser pointer pointing the contour.
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