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Visual Servo Control for Manipulation of a Two-axis Robotic Wrist

This thesis presents a skillful robotic wrist system using a visual servo control technique to demonstrate dexterity of the mechanical wrist from the viewpoint of the table tennis. A ball and plate system is chosen as the first stage of this long-term project. A two degrees-of-freedom robotic wrist with an acrylic plate attached as the end effector is developed. A visual feedback
control system is implemented with a web cam and a personal computer to acquire the ball's position. In order to implement decision making for changing
orientation of the plate, a Linear Quadratic Regulator (LQR) is designed. As a result, the ball can be balanced at specific positions. Experimental results
exhibit preliminary and promising achievement. Based on this progress, further improvement and deeper exploration can be carried on in the future.

Identiferoai:union.ndltd.org:NSYSU/oai:NSYSU:etd-0730107-212946
Date30 July 2007
CreatorsTsai, Chen-Hsun
ContributorsCheng-Yi Chen, Chi-Cheng Cheng, Tsing-Iuan Tsay
PublisherNSYSU
Source SetsNSYSU Electronic Thesis and Dissertation Archive
LanguageCholon
Detected LanguageEnglish
Typetext
Formatapplication/pdf
Sourcehttp://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0730107-212946
Rightsnot_available, Copyright information available at source archive

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