Intelligent Pose Control of Robot Manipulators Using a Pan-Tilt Camera

• Main Authors: Jun-li Huang, 黃鈞立
• Other Authors: Qing-yuan Cai
• Format: Others
• Language: zh-TW
• Published: 2007
• Online Access: http://ndltd.ncl.edu.tw/handle/43283952420867014331

碩士 === 國立成功大學 === 機械工程學系碩博士班 === 95 === In　recent　years,　robot　technology　has　widely　been　utilized　in　our　domestic　life.　Service　robots　are　gradually　involving　in　medical　care,　entertainment　and　building　maintenance.　The　objective　of　this　thesis　is　to　propose　a　vision-guided　control　strategy　for　a　service　robot　to　drive　its　manipulator　in　the　application　of　grasping　tasks.　The　proposed　control　strategy　is　based　on　the　extended　Kohonen　network　and　is　applied　to　achieve　the　mapping　between　image　features　and　the　pose　of　the　robot　manipulator.　With　the　characteristic　of　self-learning,　the　calibration　of　the　adopted　camera　is　not　necessary.　A　robot　manipulator　integrated　with　a　pan-tilt　camera　has　been　employed　to　verify　the　theoretical　results　of　the　proposed　method.　After　the　training　stage,　the　robot　manipulator　is　able　to　position　its　gripper　accurately.