https://scholars.lib.ntu.edu.tw/handle/123456789/611570
標題: | Visual servoing spanner picking and placement with a SCARA manipulator | 作者: | Hu C.-Y. Chen C.-R. Tseng C.-H. Yudha A.P. Kuo C.-H. CHUNG-HSIEN KUO |
關鍵字: | Calibration;Computer vision;Degrees of freedom (mechanics);Image recognition;Object recognition;Robotic arms;Servomotors;Visual servoing;4 degrees of freedom;Communication interface;Image calibration;Image distortions;Object localization;SCARA system;Selective compliance assembly robot arms;Vision servo;Image processing | 公開日期: | 2016 | 卷: | 2016-May | 起(迄)頁: | 1632-1637 | 來源出版物: | Proceedings of the IEEE International Conference on Industrial Technology | 摘要: | This paper presents a vision-based SCARA (Selective Compliance Assembly Robot Arm) system for Spanner Fetching and Placing, which can be applied in the traditional factories. The proposed SCARA discussed in this paper has about 50 cm working ranges, and contains 4 degrees of freedom. It is designed in a low cost way. Except for the motors, all the materials of the component is plastic and aluminum. The main process of the vision system consists of image calibration, image recognition and object localization. First, the image distortion can be reformed in image calibration. Second, the image of spanner placed on workplace is segmented by using color information in image recognition. Last but not least, we can obtain the information about the spanners such as center, length, slope and tool number which relates to length. Then position and rotation command can be delivered to motion controller via Modbus-TCP communication interface. Finally, the results of vision system were discussed in this paper. ? 2016 IEEE. |
URI: | https://www.scopus.com/inward/record.uri?eid=2-s2.0-84974597212&doi=10.1109%2fICIT.2016.7475006&partnerID=40&md5=96ce1dfcbeecb6c4e9b2fa38fad1d2ce https://scholars.lib.ntu.edu.tw/handle/123456789/611570 |
DOI: | 10.1109/ICIT.2016.7475006 |
顯示於: | 機械工程學系 |
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