Document Type
Thesis
Date of Award
12-31-1991
Degree Name
Master of Science in Electrical Engineering - (M.S.)
Department
Electrical Engineering
First Advisor
Edwin Hou
Second Advisor
Nirwan Ansari
Third Advisor
Yun Q. Shi
Abstract
This thesis investigate the problem of tracking 2-D circle parts with an eye-in-hand robot arm system. A vision module capable of measuring the motion of a circle is developed. Two algorithms based on the conic equation representation of circle and the symmetric property are developed. The first algorithm approximates the image of the circle as an ellipse. The second algorithm use the arc radius estimator to extract two image points of the circle located at the center of the largest arc. These image points are then used to solve for the inverse perspective transformation. An inverse kinematics solution based on the inverse transform technique is introduced. Simulations and experimental results are also presented.
Recommended Citation
Lee, Shing, "Vision-guided servoing robot arm system" (1991). Theses. 2540.
https://digitalcommons.njit.edu/theses/2540
