Development of the vision-based robotic system for tracking, picking and placing a moving object

• Main Author: 易芷瑜
• Other Authors: 陳啟川
• Format: Others
• Language: zh-TW
• Published: 2019
• Online Access: http://ndltd.ncl.edu.tw/handle/n963d7

碩士 === 逢甲大學 === 航太與系統工程學系 === 107 === The automated factories are very common nowadays, machine vision has become an indispensable technology for improve the practicality and adaptability of robots. Other than the more expensive off-the-shelf 3D camera, this paper use LabVIEW to develop the vision-based robotic system, which is composed of the 2D camera, robotic arm and conveyor, for tracking, picking and placing a moving object tasks. Functions such as: the camera adjustment and setting, the camera calibration and compensation for the object coordinate offset, the eye to hand calibration by using the coordinate transformation with pixel coordinate and robot coordinate that can make robotic arm moving to the accurate object position, the conveyor control and calibration with vision processing, the pattern matching with the calculation of the final picking coordinate of the object, and controlling robotic arm to pick and place the object. …etc. will be included in this system. The thesis will illustrate all functions and verifications of the system tests. The practicality and adaptability of this system will be confirmed after the revision and system integration based on the experiment results are achieved. Besides, the matured system will also compensate the robotic arm and conveyor velocity by vision-based algorithm and benefit the system with the advantages of automation and adaptation.