Autonomous Task Execution of a Two-Armed Robot with Stereo Vision Camera

• Main Authors: Ting-Ting Liang, 梁婷婷
• Other Authors: Ching-Chih Tsai
• Format: Others
• Language: en_US
• Published: 2010
• Online Access: http://ndltd.ncl.edu.tw/handle/04078841906982159782

碩士 === 國立中興大學 === 電機工程學系所 === 98 === This thesis presents techniques for system design, attitude determination algorithm, smooth motion control, and autonomous task execution of a two-armed robot with stereo vision camera. The modular mechatronic method and the system-on-a-programmable-chip (SoPC) technology are used to design and implement a robotic head motion control module with a stereo vision system. An attitude determination algorithm and the quadratic uniform B-spline curve method are combined together to obtain smooth trajectories for the motions of the dual arms, and then the PIV controller along with pre-specified trapezoidal velocity profiles are employed to track the planned motion trajectories. A novel algorithm of autonomous task execution is presented by incorporating with object recognition and position estimation capabilities of the stereo vision system. An autonomous coffee making experiment is conducted to show the effectiveness and performance of the proposed algorithm of autonomous task execution.