This thesis deals with the design and implementation of a visually
guided robotic assembly system. Stereo imaging, three dimensional location
extraction and object recognition will be the features of this system. This
thesis study considers a system utilizing an eye-in-hand configuration. The
system involves a stereo rig mounted on the end effector of a six-DOF ABB
IRB-2000 industrial robot. The robot is controlled by a vision system, which
uses open-loop control principles. The goal of the system is to assemble
basic geometric primitives into their respective templates.
Recognition
| Identifer | oai:union.ndltd.org:METU/oai:etd.lib.metu.edu.tr:http://etd.lib.metu.edu.tr/upload/4/1223353/index.pdf |
| Date | 01 January 2003 |
| Creators | Seran, Onur |
| Contributors | Konukseven, Ertan |
| Publisher | METU |
| Source Sets | Middle East Technical Univ. |
| Language | English |
| Detected Language | English |
| Type | M.S. Thesis |
| Format | text/pdf |
| Rights | To liberate the content for public access |
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