Development of a Vision System for Robot Arm Grasping and Manipulation
| Autor: | Chong-Jing Huang, 黃重璟 |
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| Rok vydání: | 2005 |
| Druh dokumentu: | 學位論文 ; thesis |
| Popis: | 93 This thesis aims at developing a stereo-vision system to supply 3D coordinates of objects to facilitate the manipulation of robot arms. Before offering 3D information, the cameras should be calibrated to obtain their intrinsic and extrinsic parameters. This job is accomplished by following a standard calibration procedure using a template board with black and white rectangular blocks. In the real world, objects are of various shapes. For a gripper to properly hold them, correct information of their orientation is required. An effort has been made to construct a multiple-camera system to supply 3D cue points of a target object. These points are then used to compute the supremum ellipsoid that can offer the major and minor axes of the objects. The orientations of the objects are thus treated as the directions of the major axis for the end effecter to handle. Experimental results verify the feasibility of the proposed scheme. |
| Databáze: | Networked Digital Library of Theses & Dissertations |
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