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Developing auto charging mechanism on a scara robot using vision

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The purpose of this thesis is to develop an electrical plug recognition system for auto charging mechanism on a SCARA robot as a model which requires object detection and position estimation algorithms. The focus of this thesis work is to observe and analyze object recognition system by comparing different object detection methods and applying it in a SCARA robot model, as a representation of charging manipulator in a mobile robot. The problem that needs to be solved is to estimate the position of the electrical plug, and connecting the electrical cord to the plug. A camera is used to find the electrical plug, and the position of the electrical plug is calculated by using image processing method. Then the robot moves to the detected position based on the detection result and inverse kinematics, preparing a position for charging. The position of the electrical cord must be orthogonal to the electrical plug.

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Availability

B01296

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Available

Detail Information

Series Title

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Call Number

1296

Publisher

: Swiss German University., 2013

Collation

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Language

English

ISBN/ISSN

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Classification

NONE

Content Type

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Media Type

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Carrier Type

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Edition

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Subject(s)

MT

Specific Detail Info

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Statement of Responsibility

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