Development of Binocular Vision Control of Ball Batting Robot by Digital Signal Processor on Embedded System
| Autor: | Yin-Xi Huang, 黃胤璽 |
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| Rok vydání: | 2013 |
| Druh dokumentu: | 學位論文 ; thesis |
| Popis: | 101 There are a lot of image servo systems in PC-based development, affecting enormous system cost, low efficiency, not appropriate independent operation and huge size hardware. In recent years, advance development in technology increase processing speed of Digital Signal Processor (DSP) and expands its functionality. In embedded system, DSP has high accuracy and high performance processing in complex arithmetic. Therefore, it could become the most system’s requirement for real-time capability and replace PC-based in visual servo system. In this study, TMS320DM648 and DMS320F2812 are utilized in the system. Principally, DM648 as a vision system can calculate position information of moving object and predict its value. F2812 as robot control core works based on the following sequence processes: Initially, the control commands are sent by UART to the robot control kernel. Secondly, rotation angle is got by using the inverse kinematics, and finally, the target is responded by the robot arm, i.e. hitting the target. |
| Databáze: | Networked Digital Library of Theses & Dissertations |
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