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Positioning of a Robotic Manipulator through the Use of Visual Feedback.
AIR FORCE INST OF TECH WRIGHT-PATTERSON AFB OH
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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
APPROVED FOR PUBLIC RELEASE