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AUTONOMOUS ROBOTIC AUTOMATION SYSTEMWITH VISION FEEDBACK
- 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 |
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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. |
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Subject(s): |
Robotics Automation PID Control Robot dynamics Image processing |
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Persistent Link to This Record: | http://purl.flvc.org/ucf/fd/CFE0000277 | |
Restrictions on Access: | public | |
Host Institution: | UCF |