Based on Inverse Kinematics for robot arm control
| Autor: | Po-chien Tsai, 蔡柏謙 |
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| Rok vydání: | 2011 |
| Druh dokumentu: | 學位論文 ; thesis |
| Popis: | 99 This thesis studies and implements the control designs for a multi-joint robot arm. The robot arm system hardware contains a multi-joint robot arm with a gripper and two CCDs. The robot arm contains four servo motors and the palm is composed of two motors as a gripper. Two CCD are set on the head of the robot. The control process of the robot arm is using two CCD to detect the target and using PC to calculate the target’s position in 3D space. Then the robot arm is control to reach and capture the target. In the process, the inverse kinematics (IK) concept is utilized to manipulate the robot arm, in which the practical gripper position can be messured by two CCD. When the robot arm reaches around of the target, fuzzy control is proposed to adjust the gripper position and shorten the position error such that the position error can meet the needs of capturing the target precisely. Furthermore, in order to detect whether the gripper captures the target and avoid the robot arm hitting the table, the force-sensory-feedback object grasping control, and the obstacle avoided are added. After all, the robot arm can achieve the following three objectives. The first is to hold an egg and put it onto a bowl; the second is to grasp a bottle filled with water and pour the water into a cup, and the last one is to press the exact number of elevator buttons. Several practical experimental results will demonstrate the effectiveness of the proposed control design. |
| Databáze: | Networked Digital Library of Theses & Dissertations |
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