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    Por favor, use este identificador para citar o enlazar este ítem:http://uvadoc.uva.es/handle/10324/11867

    Título
    Visual-based Guidance System for a 6-DOF Robot
    Autor
    Torroba Balmori, Ignacio
    Director o Tutor
    Lehto, Raine
    Editor
    Universidad de Valladolid. Escuela de Ingenierías IndustrialesAutoridad UVA
    Año del Documento
    2014
    Titulación
    Grado en Ingeniería en Electrónica Industrial y Automática
    Resumo
    The idea of this bachelor’s thesis is to develop a position-based visual servoing system with two webcams that allows an anthropomorphic robot ABB IRB 120 with six degrees of freedom (DOF) to be guided in real time by an operator, by triangulating a specific target moved within the field of view (FOV) of a machine vision system. For this kind of motion control based on visual data input, termed visual servoing control, we need a stereo vision system to acquire the images of the target since three-dimensional information is required to perform object tracking with six DOF. These images are processed by a MATLAB ap-plication running in a remote PC. The current coordinates of the target referred to the left camera reference frame are extracted from the images and sent through an Ethernet connec-tion to the robot controller, which is programmed to receive the vectors and move its tool centre point (TCP) to the demanded position within its workspace.
    Materias (normalizadas)
    Robótica
    Idioma
    eng
    URI
    http://uvadoc.uva.es/handle/10324/11867
    Derechos
    openAccess
    Aparece en las colecciones
    • Trabajos Fin de Grado UVa [30969]
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    Arquivos deste item
    Nombre:
    TFG-P-137.pdf
    Tamaño:
    1.965Mb
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    Attribution-NonCommercial-NoDerivatives 4.0 InternationalExceto quando indicado o contrário, a licença deste item é descrito como Attribution-NonCommercial-NoDerivatives 4.0 International

    Universidad de Valladolid

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