Keywords

Robotics, Automation, PID Control, Robot dynamics, Image processing

Abstract

In this thesis, a full design, development and application of an autonomous robotic automation system using vision feedback is performed. To realize this system, a cylindrical manipulator configuration is implemented, using a personal computer (PC) based PID controller from National Instruments. Full autonomous control will be achieved via a programmable human machine interface (HMI) developed on a PC using Borland C++ Builder. The vision feedback position control is accomplished using an ordinary "off-the-shelf" web camera. The manuscript is organized as follows; After Chapter 1, an introduction to automation history and its role in the manufacturing industry, Chapter 2 discusses and outlines the development of the robotic kinematics and dynamics of the system. A control strategy is also developed and simulated in this chapter. Chapter 3 discusses color image processing and shows the development of the algorithm used for the vision feedback position control. Chapter 4 outlines the system development, which includes the hardware and software. Chapter 5 concludes with a summary, and improvement section. The process used as a basis for the design and development of this thesis of this thesis topic was constructed from a manual capacitor orientation check test station. A more detailed definition and objective is presented in the introduction.

Notes

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Graduation Date

2004

Semester

Fall

Advisor

Qu, Zhihua

Degree

Master of Science in Electrical Engineering (M.S.E.E.)

College

College of Engineering and Computer Science

Department

Electrical and Computer Engineering

Degree Program

Electrical Engineering

Format

application/pdf

Identifier

CFE0000277

URL

http://purl.fcla.edu/fcla/etd/CFE0000277

Language

English

Release Date

December 2004

Length of Campus-only Access

None

Access Status

Masters Thesis (Open Access)

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