Hand-Eye-Foot Coordinated Development for the Intelligent Robot

• Main Authors: Bing-Yu Yeh, 葉秉諭
• Other Authors: Tain-Sou Tsay
• Format: Others
• Language: zh-TW
• Published: 2011
• Online Access: http://ndltd.ncl.edu.tw/handle/7j43fr

碩士 === 國立虎尾科技大學 === 航空與電子科技研究所 === 99 === The main purpose of this thesis is to (1)develop a software and hardware platform for intelligent hand-eye-foot coordinated robot; (2)develop control and stabilization laws for intelligent wheeled hand-eye-foot coordinated robot; (3)develop target tracking laws for intelligent wheeled hand-eye-foot coordinated robot to engage and catch moving target; The developed techniques can make the robot simulate human behaviors. The developed techniques for the intelligent robot include (1) Target image processing and recognition laws; (2) Target scanning and pointing algorithm; (3) 2D target tracking and camera stabilization Laws-horizontal and vertical tracking and stabilization laws; (4) Robot body speed control and ranging algorithms; (5)Robot body to camera tracking and control laws; (6)Join-type robot arm coordinate transformation evaluation and position control; (7) Robot to target approaching algorithm. All techniques are developed with NI Lab-View software and built in a X80SV Robot. The wireless date communication between control panel and robot is used for application flexibility. All developed techniques are verified by real moving testing.