Vision-based control of robot

• Main Author: Li, Jianwei.
• Other Authors: Cheah Chien Chern
• Format: Final Year Project
• Language: English
• Published: 2011
• Subjects: DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics
• Online Access: http://hdl.handle.net/10356/44407
• Institution: Nanyang Technological University

Today, the use of robotic systems has significantly contributed to the increase in speed and precision of automated tasks in industrial manufacturing process. Due to the advancement of technology, it becomes highly desirable to make robots intelligent so that they can function independently with minimal inputs from users. There are two main forms of feedback used in robot application. One is visual feedback and the other one is Cartesian feedback. Visual feedback is more robust than Cartesian feedback. However, practically, the robot working space cannot be covered totally by camera. Thus the combination of visual feedback and Cartesian feedback becomes a popular way to drive the robot. This project serves to explore the application that robot control motion can be applied more efficiently by integration both visual feedback and Cartesian feedback. The region, in which the visual feedback is used, is specially defined. It can be considered as the camera field, and the region is fixed and not varied as the various destination points. As part of the integration, this report also explores the application that the robot can reach the destination by passing through one occlusion area. The visual feedback cannot be applied within the occlusion area.