Automated Robotic Inspection with Eye-in-Hand Vision
碩士 === 國立臺北科技大學 === 電機工程系 === 107 === An automatic inspection system with eye-in-hand visual servoing is proposed in the thesis. A circular hole is inspected based on image processing and the cam-era is controlled to reach the target hole by using visual servoing. After reaching the target hole, the...
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| Format: | Others |
| Language: | zh-TW |
| Published: |
2019
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| Online Access: | http://ndltd.ncl.edu.tw/handle/48qezy |
| Summary: | 碩士 === 國立臺北科技大學 === 電機工程系 === 107 === An automatic inspection system with eye-in-hand visual servoing is proposed in the thesis. A circular hole is inspected based on image processing and the cam-era is controlled to reach the target hole by using visual servoing. After reaching the target hole, the camera is perpendicular to the hole and the image from the camera is the clearest. Cross patterns around the hole are extracted by the eye-in-hand monocular vision in order to reconstruct target positions and orientations. Specifically, the normal vector to the target surface is computed by known posi-tions of the cross patterns. The manipulator is controlled to reach near the target hole with the clearest image while the optical axis of the camera is perpendicular to the target surface. For the purpose of detecting changing target pose, a laser cross projector is mounted on the end-effector to estimate the normal vector to the target surface in real-time. The proposed approaches have been successfully implemented with an industrial 6-DOF manipulator.
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