Accession Number:

ADA151933

Title:

Positioning of a Robotic Manipulator through the Use of Visual Feedback.

Descriptive Note:

Master's thesis,

Corporate Author:

AIR FORCE INST OF TECH WRIGHT-PATTERSON AFB OH

Personal Author(s):

• O'Donnell,M. T.

Report Date:

1985-05-01

Pagination or Media Count:

124.0

Abstract:

In this thesis a system for positioning a general purpose industrial robot by means of information extracted by computer vision system is described. The specific example implemented was the interception of a moving object by a robotic manipulator based on three sequential images of the object. The techniques used and constraints imposed are discussed. The robot used is an industrial G.E. P-5 robot with five degrees of freedom. Several experiments used to evaluate the various components of system error were run. The results of these experiments were compared to the behavior of a linear predictive kalman filter model of the system. A list of conclusions is presented along with a discussion of particular areas where improvements of this system can be made. A listing of the Fortran programs used and an outline of the camera-robot coordinate system calibration process are included in the appendices. Additional keywords. Image processing, Kinematics, Least squares method, Calibration, and Image acquisition. Author

Descriptors:

• *ROBOTS
• *MANIPULATORS
• KINEMATICS
• IMAGE PROCESSING
• COMPUTER PROGRAMMING
• INTERCEPTION
• THESES
• FORTRAN
• FEEDBACK
• IMAGES
• LEAST SQUARES METHOD
• CALIBRATION
• VISION
• INDUSTRIAL EQUIPMENT

Subject Categories:

• Machinery and Tools
• Bionics

Distribution Statement:

APPROVED FOR PUBLIC RELEASE