| URN | etd-0727111-082721 | Statistics | This thesis had been viewed 581 times. Download 11 times. |
| Author | Ching-Chung Ku | ||
| Author's Email Address | No Public. | ||
| Department | Institute of Mechatronic Engineering | ||
| Year | 2010 | Semester | 2 |
| Degree | Master | Type of Document | Master's Thesis |
| Language | zh-TW.Big5 Chinese | Page Count | 95 |
| Title | Object-Grabbing Control and Fabrication of a Four-Axis Vision-Guided Robot Arm | ||
| Keyword | |||
| Abstract | Abstract The main purpose of this thesis focused on the design and fabrication of a four-axis robot arm, as well as its object-grabbing control problem. The computer-aided design software Inventor is used to achieve the model design of the robot mechanism. Then, the design model is exported to the computer-aided simulation software ADAMS and integrated with the control software Matlab/Simulink to perform dynamic simulations. The required maximum torque of the motor equipped at each joint of the robot arm can be obtained via dynamic simulations. Thus, we can choose proper motors with specified characteristics and can fabricate the four-axis robot arm that is capable of grabbing objects with precision. For the object-grabbing control problem, this study adopted dual-image vision technique. The first camera with two rotational degrees of freedom is controlled to keep track an object and lock the object position in the image center, and the second camera with the same degrees of freedom as the first is used to capture a second image. Thus the distance of the object can be obtained from the image disparity between these two images. Based on the image disparity and two rotational angles of the camera system, the space coordinates of the object can be easily calculated. The main advantages of the above method are that it is easy to implement and free from image distortion problems. Then, the required rotational angle of each joint motor for object-grabbing can be calculated by the kinematic relations of the four-axis robot arm. Finally, the LabVIEW software is used to integrate the four-axis robotic arm and the camera system, and the feasibility of the proposed object-grabbing control technique is verified through actual experiments. KeywordsĄGFour-axis robotic arm, image disparity, dual-image vision technique, object-grabbing control |
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| Files | indicate in-campus access at 1 years and off-campus access at 2 years | ||
| Date of Defense | 2011-07-14 | Date of Submission | 2011-07-27 |