Combination of Manipulator and Mobile Robot to Automated Guide Vehicle (AGV) System
| Autor: | Hao-Yi Yang, 楊皓譯 |
|---|---|
| Rok vydání: | 2015 |
| Druh dokumentu: | 學位論文 ; thesis |
| Popis: | 103 In this thesis, the concept of the automated guided vehicle (AGV) as a starting point. The traditional AGV travels with orbit. The newer way use the reflective paint replace orbit and make AGV can follow the paint. However, changing the path of orbit spends huge cost and time; the trackless is also lack of flexibility. Therefore, this problem can be improved if a system is developed without orbit and path can be changed at any time. In this thesis, the manipulator and mobile robot are implement. Proposing three behaviors in this system: target seeking, obstacle avoidance and target grasping. Target seeking and obstacle avoidance is the category of mobile robot; target grasping is the category of manipulator. In the beginning, the mobile robot waits the command by human. Set up the distance and orientation. Second, with using neuro-fuzzy controller to navigate mobile robot avoid obstacles until it reach to the destination. Then recognize the target by the camera on the top of mobile robot. And integrate eye-in-hand camera to modify the error between the end-effector and target. Finally, manipulator grasps the target and transport to the initial position and wait the next command. There are three features in this thesis: first, mobile robot avoid obstacle with smoother trajectory and drive to destination. For narrow space it can be improve. Second, solving the problem of dead-cycle which easily occurs on obstacle avoidance behavior. Third, the target grasping adopts visual servo control. Modify the posture of manipulator and grasping the target by feedback the end-effector position on the image. |
| Databáze: | Networked Digital Library of Theses & Dissertations |
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