立體視覺伺服機械手臂之運動控制

Motion Control for a Robotic Arm Using Stereo Visual Servoing

黃怡潔(Yi-Jie Haung)

指導教授 ： 陳冠宇

中原大學/工學院/機械工程研究所/碩士(2010年)

https://doi.org/10.6840/cycu201100334

摘要

隨著科技不斷的進步，機器人的發展也越來越成熟，由最初利用在工業生產線上的機器人到目前廣泛的運用在日常生活中的智慧型機器人，機器手臂由夾爪演變到多指手，因此本文中使用多指手的機構來做各種動作。
本文是對於機器手臂研究，藉由一組視覺系統與機器手臂，達到對特定的目標進行指定任務。使用立體視覺伺服，透過二部攝影機所擷取之影像視野重壘區域重建物體之三維資訊，搭配四軸機器手臂利用影像處理、立體視覺、座標轉換、機器人運動學…等方法達成針對目標物進行靜態夾取以及動態追蹤之功能開發。

關鍵字

動態追蹤 ； 立體視覺伺服 ； 機器手臂控制

並列摘要

The development of the robots are mature with the development of technology. At first, robots are used in the industrial enterprise. Today the intellegence robots are used widely in daily life. The machinic arm evolves from the gripping jaw to the fingered hand. The subject of this dissertation is using fingered hand to make every kind of movement.
This paper studies the robotic arm to achieve the assignment from a
pair of CCDs and a motor-drived arm. Therefore the stereo visual servoing technique, using the overlapping region of the pictures which are captured by two cameras to make the 3D reconstruction of object is adopted in this dissertation. Also the experiment collocates the methods such as image processing, stereo vision, coordinate transform, manipulator kinematics with the 4-axis robot to accomplish the developing of grabbing in static and tracking in motion.

並列關鍵字

stereo visual servoing ； robot control ； dynamic tracing

參考文獻

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