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AUTONOMOUS ROBOTIC AUTOMATION SYSTEMWITH VISION FEEDBACK

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Date Issued:
2004
Abstract/Description:
In this thesis, a full design, development and application of an autonomous robotic automation system using vision feedback is performed. To realize this system, a cylindrical manipulator configuration is implemented, using a personal computer (PC) based PID controller from National Instruments. Full autonomous control will be achieved via a programmable human machine interface (HMI) developed on a PC using Borland C++ Builder. The vision feedback position control is accomplished using an ordinary "off-the-shelf" web camera. The manuscript is organized as follows; After Chapter 1, an introduction to automation history and its role in the manufacturing industry, Chapter 2 discusses and outlines the development of the robotic kinematics and dynamics of the system. A control strategy is also developed and simulated in this chapter. Chapter 3 discusses color image processing and shows the development of the algorithm used for the vision feedback position control. Chapter 4 outlines the system development, which includes the hardware and software. Chapter 5 concludes with a summary, and improvement section. The process used as a basis for the design and development of this thesis of this thesis topic was constructed from a manual capacitor orientation check test station. A more detailed definition and objective is presented in the introduction.
Title: AUTONOMOUS ROBOTIC AUTOMATION SYSTEMWITH VISION FEEDBACK.
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Name(s): Rosino, Jeffery, Author
Qu, Zhihua, Committee Chair
University of Central Florida, Degree Grantor
Type of Resource: text
Date Issued: 2004
Publisher: University of Central Florida
Language(s): English
Abstract/Description: In this thesis, a full design, development and application of an autonomous robotic automation system using vision feedback is performed. To realize this system, a cylindrical manipulator configuration is implemented, using a personal computer (PC) based PID controller from National Instruments. Full autonomous control will be achieved via a programmable human machine interface (HMI) developed on a PC using Borland C++ Builder. The vision feedback position control is accomplished using an ordinary "off-the-shelf" web camera. The manuscript is organized as follows; After Chapter 1, an introduction to automation history and its role in the manufacturing industry, Chapter 2 discusses and outlines the development of the robotic kinematics and dynamics of the system. A control strategy is also developed and simulated in this chapter. Chapter 3 discusses color image processing and shows the development of the algorithm used for the vision feedback position control. Chapter 4 outlines the system development, which includes the hardware and software. Chapter 5 concludes with a summary, and improvement section. The process used as a basis for the design and development of this thesis of this thesis topic was constructed from a manual capacitor orientation check test station. A more detailed definition and objective is presented in the introduction.
Identifier: CFE0000277 (IID), ucf:46220 (fedora)
Note(s): 2004-12-01
M.S.E.E.
Engineering and Computer Science, Department of Electrical and Computer Engineering
Masters
This record was generated from author submitted information.
Subject(s): Robotics
Automation
PID Control
Robot dynamics
Image processing
Persistent Link to This Record: http://purl.flvc.org/ucf/fd/CFE0000277
Restrictions on Access: public
Host Institution: UCF

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