Visual Positioning Design and Implementation of PLC-based Selective Compliance Assembly Robot Arm

• Main Authors: Yu-Ting Gu, 辜昱珽
• Other Authors: Hung-Hsing Lin
• Format: Others
• Language: zh-TW
• Published: 2016
• Online Access: http://ndltd.ncl.edu.tw/handle/61592924121926583913

碩士 === 修平科技大學 === 電機工程碩士班 === 104 === The main purpose of this research is to develop industrial robot using camera to simulate and identify the article coordinates. We wrote the program of selective compliance assembly robot arm movement in the programmable logic controller (PLC) to drive the selective compliance assembly robot arm and perform the functions of graspingness, processing and selection and so on. In this paper, we designed the robotic arm based on the PLC-based selective compliance assembly robot arm, integrating the techniques of computer vision, visual positioning, motion control, and control strategy to achieve the positioning goal. The visual positioning of the mobile robot is based on the images of image vision system and algorithms. In this study, the integration of joint robotic arm and the autonomous visual positioning system applies in automation technology. This study establishes the autonomous video library to provide the codes and automation-related mechanical arm positioning and thus enhance the needs of industries and academia.