The Design of an Eye-on-Hand Robotic System

• Main Authors: Chih-hung Hwang, 黃志鴻
• Other Authors: Kuo Shing Hwang
• Format: Others
• Language: zh-TW
• Published: 2003
• Online Access: http://ndltd.ncl.edu.tw/handle/27694703353739912042

碩士 === 國立中正大學 === 機電光工程研究所 === 91 === The objective of this thesis is to the integrate of CCD cameras and a robotic arms as a visual servoing system ,using for the grab for a object. The visual servoing system is mainly based on the position-based control and the image-based control. The architecture of this system is based on the concept of position-based control. In order to accomplish the framework of the system, it is divided into four parts: a vision system, the control of the robotic arm, the search for objects, and the grab systems for objects . The vision system is used to detect the edge of objects and find their locations through the method of Robert edge detection after collecting the information of colors. The control system of the robotic arm aims at calculating the angles of each axis after replacing the control panel with PC. Path planning and PD controller are introduced to obtain a better movement. The search of objects is adopted to solve the problem of the range of vision. The grab for objects is used to solve the problem of inconsistency on timing between the movement of robotic arms and robot vision process.