立體視覺導引擲球機器手臂之研究

A study on a stereo vision guided ball throwing robotic arm

謝宗仁(Tsung-Jen Hsieh)

指導教授 ： 陳冠宇

中原大學/工學院/機械工程研究所/碩士(2009年)

https://doi.org/10.6840/cycu201100161

摘要

本文的目的在構建基於立體視覺伺服控制系統機器手臂擲球的研究。首先，我們設計了四軸機器手臂及多指機械手，利用立體視覺攝影機獲取環境資訊，並透過圖像處理和圖像特徵抽取，我們可以找到目標物的質心坐標，經計算出左右雙眼兩個相應的點可以得到目標點的距離位置。立體視覺處理後所得到的三維空間位置點，可根據機器人運動學，包含順向運動學跟逆向運動學，機器手臂可以正確抓住的目標球。投擲運動規劃上，為了使機器手臂在高移動速度運動中可以平順的移動，並在考慮馬達轉矩的極限和最大角速度，我們設計了一個基於 S曲線的運動軌跡。本論文的主要研究方法，包含機構設計、機器人力學控制及機器視覺。

關鍵字

運動軌跡規劃 ； 視覺伺服控制系統 ； 機器人運動學

並列摘要

This dissertation is focus on the study of constructing the stereo visual servo control system in robotic throwing motion task. First of all, we design a four-degree of freedom robotic manipulators and a multi-fingered robotic hand. By utilizing the stereo CCD camera to acquire the data of the environment; and by using image processing and image feature extraction, we can locate the centroid of the target object and get its depth by calculating two corresponding points. By stereo vision processing, the three-dimensional position point we have received is according to manipulator kinematics, including forward kinematics and inverse kinematics; and the robotic hand can correctly grasp the ball in. In the plan of throwing motion, in order to advance the robotic hand shifting more smoothly in high velocity motion; under the consideration of the torque limit and the maximum angular velocity, we design a trajectory based on S Curve. The main methods of this study include the mechanism design, robotic Mechanics and control and Machine Vision.

並列關鍵字

visual servo control system ； manipulator kinematics ； trajectory planning

參考文獻

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