Autonomous Robotic Automation Systemwith Vision Feedback

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.

Author dc:creator

• Rosino, Jeffery

Contributors dc:contributor

• Qu, Zhihua

• Robotics
• Automation
• PID Control
• Robot dynamics
• Image processing
• Electrical and Computer Engineering
• Electrical and Electronics
• Engineering

Language dc:language

English

Identifier

CFE0000277

OAI identifier oai:identifier

oai:stars.library.ucf.edu:etd-1233