Study on Vision-Based Object Pick-and-Place Tasks of Industrial Manipulator

論文翻譯標題: 基於視覺之工業用機械手臂物件取放作業研究
  • 羅 國益

學生論文: Master's Thesis

摘要

Nowadays because of population aging and population decline labor force has become insufficient and labor cost keeps rising up Thus most manufacturers adopt industrial automation systems with robotic arms in order to reduce costs and increase productivities However when dealing with complicated tasks such as object pick-and-place it is harder for robotic arms alone to complete them One of the possible solutions to overcoming the aforementioned difficulties is to introduce machine vision into the robotic arm system This thesis focuses on the development of vision-based automatic pick-and-place systems Generally there are two types of machine vision configuration – eye-in-hand and eye-to-hand For the eye-in-hand configuration a camera is attached on the tool center point of a robotic arm For the eye-to-hand configuration a stereo camera is placed on a fixed position The structures of both configurations are similar and can be divided into three main sections – the calibration of machine vision system object recognition and transformations of object coordinates Experimental results indicate that both the systems with eye-in-hand and eye-to-hand configurations can successfully perform automatic pick-and-place tasks Furthermore experimental results also indicate that the system with eye-in-hand has a higher accuracy but is harder to recognize 3D objects On the contrary the system with eye-to-hand is easier to recognize 3D objects but has a lower accuracy and requires more training and calibration
獎項日期2016 七月 13
原文English
監督員Ming-Yang Cheng (Supervisor)

引用此

Study on Vision-Based Object Pick-and-Place Tasks of Industrial Manipulator
國益, 羅. (Author). 2016 七月 13

學生論文: Master's Thesis