Following Moving Objects Using Externally Guided Motion (EGM).
Master thesis
Permanent lenke
http://hdl.handle.net/11250/2413934Utgivelsesdato
2016-06-15Metadata
Vis full innførselSamlinger
- Studentoppgaver (TN-IDE) [823]
Sammendrag
This thesis presents a sensor guided system using Externally Guided Motion (EGM)
to reduce the delay from new sensor data is available, to the robot initiates its
movement. A suggested solution to follow a disc sliding down a ramp is presented.
The position of the disc is registered by a camera and transmitted to a computer.
The data is processed on the computer before it is forwarded to the robot. Without
prediction the robot is approximately 200ms behind the disc. With prediction, the
robot is able to follow the disc. EGM has low latency, enabling the robot follow
an object moving with non-constant velocity. Even at velocities upwards to 2m/s.
Using EGM can give more e ective robot cells and thereby reducing costs in the
manufacturing industry.
Beskrivelse
Master's thesis in Cybernetics and signal processing