Dissertation > Excellent graduate degree dissertation topics show

Vision Position and Control of Plane Work Piece Based on Adept Robot

Author: SunZuo
Tutor: LuoZhiZeng
School: Hangzhou University of Electronic Science and Technology
Course: Control Theory and Control Engineering
Keywords: Robot Vision Nonlinear Calibration Canny Operator Hausdorff Distance Genetic Algorithm
CLC: TP391.41
Type: Master's thesis
Year: 2009
Downloads: 61
Quote: 0
Read: Download Dissertation

Abstract


Machine vision is used more widely with the development of computer, pattern recognition and image processing. As an important method to get the environment data, the machine vision could improve robotic flexibility and autonomy. It is the very important technology that how industrial robot gets the feature of the work piece fast and recognizes the type of work piece correctly, and judge the position and posture of the work piece in the applications. So the paper targets in the vision position and the control of industrial robot, especially the technology of real-time match recognition and positioning in detail. The main research task follows:(1) The common camera calibration methods used in computer vision are studied and compared. Because of the distance between the work piece and the camera is a constant value during the running time, a nonlinear calibration method that could reduce the camera distort and enhance the precision of inspection is demonstrated in this vision system. The experiments are executed to test the calibration precision finally.(2) The median filtering and histogram equalization are used to preprocess the captured original image in order to improve the image quality. Canny algorithm is introduced to get edge features which show the correctness of positioning and the singleness of response after comparing Canny algorithm to other edge detection algorithms.(3) An improved genetic algorithm and work piece recognition with Hausdorff distance is presented based on the traditional image match algorithm in this paper. The algorithm uses work piece edge feature as match feature and corrected Hausdorff distance as the standard of target similarity measurement, uses genetic algorithm to search the best piece to match. Then, the work piece match recognition is accomplished in distance transformation. The test result shows that this method could find the piece in the motion of movement, rotation and changed scale usefully.(4) By using the recognition and position methods presented above and the vision system that consists of Adept S650 robot, CCD camera, image capture card, motion controller and PC, grabbing work piece experiment is finished.

Related Dissertations

  1. Development of the Platform for Compressor Optimization Design and Aerodynamic Optimization Design in the Transonic Compressor,TH45
  2. The Application of Fuzzy Comprehensive Evaluation Based on Genetic Algorithm in Vocational Evaluation of Classroom Teaching,G712
  3. Study on Taste Characteristic of Taste Peptide Enzymatic Production from Oyster Base on A Neural Network Method,TS254.4
  4. Design and Realization of the Magnetic Antenna in MW and SW Bands Based on Genetic Algorithm,TN820
  5. Citrus Image Segmentation Based on Genetic Algorithm,TP391.41
  6. Research of Scheduling Algorithm Based on Hybrid Adaptive Genetic Algorithm in Computing Grid,TP393.09
  7. Public Transport Optimal Dispatching Based on the Genetic-Newton Algorithm,TP18
  8. BP network optimization based on genetic algorithm optimization of the biodiesel process,TE667
  9. The Research on Texture Synthesis Technology from Cloud Theory & Been Evolution Genetic Algorithm,TP391.41
  10. Research on Clustering Algorithm Based on Genetic Algorithm and Rough Set Theory,TP18
  11. Mining resources based on genetic algorithm optimization model of,O224
  12. The magnetorheological damper mechanical properties and Gun Recoil,TB535.1
  13. Optimization Study on Gating System and Molding Process Parameters of Injection Mold Based on Simulation,TQ320.662
  14. Research on the Milling Performance and Parameters Optimization with Large Parts of Heavy Machine,TG54
  15. Research of Adaptive Active Noise Control Based on Neural Network,TP183
  16. The Design and Implementation of Email Analysis and Forensies System,D918.2
  17. Sdesign and Implementation of Course Scheduling Management System,TP311.52
  18. Sentence Similarity Computing Research and Application of Intelligent Question Answering System,TP391.1
  19. The Study and Development of Production Planning and Management System for Small and Medium Discrete Enterprises,TP311.52
  20. Research on Feature Extraction, Selection and Classification Algorithms for Pulmonary CAD,TP391.41
  21. Research on Oranically-Structured of Expanding Large Scale Systems Based on Parameter Optimization,TP273

CLC: > Industrial Technology > Automation technology,computer technology > Computing technology,computer technology > Computer applications > Information processing (information processing) > Pattern Recognition and devices > Image recognition device
© 2012 www.DissertationTopic.Net  Mobile