Automatic Robot Assembly with Eye-in-Hand Binocular Visual Servoing and Structured Lighting

• Main Authors: Yi-Huan Weng, 翁逸寰
• Other Authors: 張文中
• Format: Others
• Language: zh-TW
• Published: 2011
• Online Access: http://ndltd.ncl.edu.tw/handle/736f29

碩士 === 國立臺北科技大學 === 電機工程系所 === 99 === An automatic assembly system with eye-in-hand visual servoing is proposed in the thesis. Real-time vision is employed to assist a robotic manipulator to perform assembly tasks for 3C products. In order to accomplish hand-eye coordination tasks using a robotic manipulator with stereo vision, either an offline or online hand-eye calibration procedure should be performed to determine the coordinate transformation between the robotic manipulator and the vision system. In this thesis, offline hand-eye calibration approaches are employed for eye-in-hand configurations. Since precision control task is required, an eye-in-hand configuration is employed. The system is implemented in two ways, with and without structured lighting mounted on the end-effector of a 6-DOF robotic manipulator. Firstly, object features are extracted with the stereo vision system. Then, positions and orientations of objects are reconstructed by performing image processing techniques. Finally, the assembly task is encoded to hold the back shell and precisely position it onto the cellular phone to accomplish the automatic assembly task with precision.