Development of Automatic Attitude Estimation System of a Six-Axis Robot Manipulator

• Main Authors: Po-Han Liu, 劉柏漢
• Other Authors: Yong-Lin Kuo
• Format: Others
• Language: zh-TW
• Published: 2016
• Online Access: http://ndltd.ncl.edu.tw/handle/62546575028740979032

碩士 === 國立臺灣科技大學 === 自動化及控制研究所 === 104 === Encoders are commonly applied to sense the rotating angles of manipulator joints, but angles might be not accurately obtained because of wearing joints. This thesis develops an automatic system to estimate the attitude of a six-axis robot manipulator. First, the D-H method is used to formulate the kinematics of manipulators, and a set of projection equations are derived. Secondly, to estimate the parameters of the robot and the camera by using linear and nonlinear regression, the joint angles of the robot are estimated based on the projection equations. Thirdly, image processing and morphological techniques are used to analyze the target points, and a computer code is developed so as to detect projection coordinates of the target point automatically. Finally, the image processing and the attitude estimation algorithms are integrated by the software LabView in order to develop the automatic attitude estimation system.