Vision Guided Manipulator for Optimal Dynamic Performance

摘要

This project develops an algorithm to optimize the dynamic performance of an industrial robot with aid of vision system technology. It consists of three major phases; (1) theoretical, simulation and practical of forward and inverse kinematics for Fanuc LR Mate 200iB robot to determine their D-H parameters, (2) optimization of robot movements, and (3) implementation of practical tasks. The camera is used as a vision sensor to incorporate an intelligent algorithm for the recognition of coordinates of target objects' and to guide the robot to perform certain tasks. The optimization process involves the control of two parameters known as position (θ) and speed (ω) of the 3 main axes of the robot. Its forward and inverse kinematics problems will be simulated using Robotic tools of Matlab 7.0 and Roboguide V2.3.2. The simulation results will be compared with the real practical movements. This paper will describe the technique, calculation and method on how the first phase was done.