| Summary: | 碩士 === 國立臺灣海洋大學 === 通訊與導航工程學系 === 103 === In this study three webcams are applied to a 5DoF robotic arm system that is applied to smartphone testing operation. One of the cameras is used to recognize words and numbers from the control panel by the use of Optical Character Recognize (OCR) and pattern matching process; it is an indication or command sending to human's brain for decision. In here the computer is the robot's brain that receives the command and executes decision. Another two cameras are used for catching the left and right images for 3D coordinates of object, and they are similar to human's eyes that can tell the position of object. We can easily see that the robotic arm system can catch the 3D coordinates of object and perform testing operations by the command from visual recognition. In the first step, we need to process the calibration procedure and get the relative internal/external parameters by two webcams. Then the values from image plan can be compared and transformed to 3D coordinates by the Q matrix. The coordinates can be translated to 4096 precision values in robotic arm system. In here we also use the inverse kinematics and translation between pixels and distance in the real world to check the relative position and further to execute the tested smartphone functions. In control panel, for receiving command, we use another webcam to catch the message from the monitor of the control PC by the OCR and pattern matching process. The words of command can be obtained after image translation from RGB to HSL color space. The message will then be sent to robotic arm. Movements of the robotic arm are based on fuzzy logic theory that can drive the robot arm to the relative point and position of object. The robot will execute operations that are requested. The feedback values of arm movement are applied to correct the position error in real time.
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