Vision-Guided Grasping and Manipulations of a Two-Armed Robot Using Kinect
碩士 === 國立中興大學 === 電機工程學系所 === 100 === This thesis presents methodologies and techniques for vision guided grasping and manipulations of an anthropomorphous two-armed robot with an active Kinect sensing module. An active Kinect sensing module mounted on an anthropomorphous two-armed robot is designed...
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| Format: | Others |
| Language: | en_US |
| Published: |
2012
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| Online Access: | http://ndltd.ncl.edu.tw/handle/41530512195489343686 |
| Summary: | 碩士 === 國立中興大學 === 電機工程學系所 === 100 === This thesis presents methodologies and techniques for vision guided grasping and manipulations of an anthropomorphous two-armed robot with an active Kinect sensing module. An active Kinect sensing module mounted on an anthropomorphous two-armed robot is designed to search for objects of interest, achieve object recognition and position determination and fulfill visual servoing. A vision guided grasping and manipulations using semi closed-loop control is presented for the anthropomorphous two-armed robot with its application to coffee making. To achieve closed-loop vision guided grasping, a visual servoing method is presented by using a Jacobian inverse kinematics method and on-line position estimation of the dual arms. Several simulations have been performed to illustrate the effectiveness of the proposed techniques by moving the dual arms from the starting postures to desired postures. The performance and effectiveness of the proposed methods are exemplified by conducting the experimental two armed robot.
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