研究生: |
李佾 YI LEE |
---|---|
論文名稱: |
基於眼在手影像回授之機械臂系統設計與應用 Design of eye-in-hand vision feedback for a robot manipulator system and its applications |
指導教授: |
施慶隆
Ching-Long Shih |
口試委員: |
李文猶
Wen-Yo Lee 陳雅淑 Ya-Shu Chen |
學位類別: |
碩士 Master |
系所名稱: |
電資學院 - 電機工程系 Department of Electrical Engineering |
論文出版年: | 2017 |
畢業學年度: | 105 |
語文別: | 中文 |
論文頁數: | 58 |
中文關鍵詞: | 色彩分割 、電腦視覺 、機械臂 、眼在手視覺系統 、影像回授控制 |
外文關鍵詞: | Color Segmentation, Computer Vision, Robotic Arm, Eye-in-Hand Vision System, Image Feedback Control |
相關次數: | 點閱:303 下載:3 |
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本文旨在使用眼在手之影像系統辨識及定位三維工作空間之物體,並以機械臂影像回授控制完成視覺對正以及物體之抓取與放置等任務。發展之眼在手視覺對正系統之具體內容計有: (1)彩色影像顏色分割並據此偵測三維空間中物體之外形輪廓以及相機與物體之距離與方位角;(2)整合眼在手視覺系統與機械臂反運動學計算達到機械臂影像回授以及(3)計算物體影像特徵以及估測物體於三維空間之姿態並對正目標物體。最後,整合上述之機械臂、平動夾爪和眼在手視覺系統並基於電腦視覺回授完成三維空間物體辨識、量測以及抓取與放置等任務。實驗結果驗證本文所設計之機械臂及影像整合系統的正確性與有效性,整體物體對位控制之位置誤差小於1.2 mm以及角度誤差小於1.5度。
This paper aims to use the eye-in-hand vision system to identify and locate 3D objects in the work space, and the robotic system applies vision feedback control to execute tasks such as visual alignment as well as picking-and-placing objects. The specific functions of the developed vision alignment and control system are as follow: (1) performing color segmentation to obtain effective object segmentation results and to detect the contour of object and the distance and orientation between camera and object; (2) integrating eye-in-hand system and robot inverse kinematics calculation to achieve image feedback control and (3) computing the image feature of the object, estimating the posture of the object in the 3-dimensional space and aligning the target object. Finally, this work integrates the aforementioned robotic arm, flat gripper and eye-in-hand camera system and applies computer vision techniques to perform object identification, measurement, and picking-and-placing tasks. The experimental results have verified the correctness and validity of the proposed robot and vision integrated system with an overall alignment control error of 1.2 mm in positioning and 1.5 degrees in orientation angle.
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