Videogrammetry Technique For Arm Positioning Of Bio-Production Robot
This thesis describes the development of the 'robot eye' system for agriculture robot to predict actual distance of the target object. Videogrammetry technique and triangulation method were used to measure distance of the target object. By 'clicking' on the image displayed on...
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| Format: | Thesis |
| Language: | English English |
| Published: |
2002
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| Subjects: | |
| Online Access: | http://psasir.upm.edu.my/id/eprint/12099/1/FK_2002_65_A.pdf |
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| Summary: | This thesis describes the development of the 'robot eye' system for agriculture robot to
predict actual distance of the target object. Videogrammetry technique and triangulation
method were used to measure distance of the target object. By 'clicking' on the image
displayed on the user interface, the 3-dimensional (3D) distance of the target from robot
arm will be generated and sending a signal to the robot to grip the selected target. The
mathematical model of the robot arm applied real time simulation and was developed for
use in the computing process. The 'robot eye' used WebCam digital cameras for 3D
coordinate measurement that displayed the real environment in the user interface that was
created using Visual Basic Version 6. The robot tool was designed, built and modified for
this project using computer control and pneumatic drive system. The emphasis of the
fabrication was to emulate the function of picking and harvesting of agricultural products.
Robot communication was developed using ICP- DAS I/O modules that remotely sense
up to a distance of 100 meters. This conceptual project is suitable for further research on 'robot eye' development using the non-contact measurement of 3D coordinate detection
of the target object in real time mode. |
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