Satria, Reza Budi and Rusyadi, Rusman and Tedjawibawa, Ketut (2013) Developing Auto Charging Mechanism on A SCARA using Vision. Bachelor thesis, Swiss German University.

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Abstract

The purpose of this thesis is to develop an electrical plug recognition system for auto charging mechanism on a SCARA robot as a model which requires object detection and position estimation algorithms. The focus of this thesis work is to observe and analyze object recognition system by comparing different object detection methods and applying it in a SCARA robot model, as a representation of charging manipulator in a mobile robot. The problem that needs to be solved is to estimate the position of the electrical plug, and connecting the electrical cord to the plug. A camera is used to find the electrical plug, and the position of the electrical plug is calculated by using image processing method. Then the robot moves to the detected position based on the detection result and inverse kinematics, preparing a position for charging. The position of the electrical cord must be orthogonal to the electrical plug.

Item Type:	Thesis (Bachelor)
Uncontrolled Keywords:	Object Recognition; Image Processing; Charging Mechanism; Position Estimation
Subjects:	T Technology > TA Engineering (General). Civil engineering (General) > TA1637 Image processing T Technology > TJ Mechanical engineering and machinery > TJ163.12 Mechatronics
Divisions:	Faculty of Engineering and Information Technology > Department of Mechatronics Engineering
Depositing User:	Astuti Kusumaningrum
Date Deposited:	30 Dec 2021 08:54
Last Modified:	30 Dec 2021 08:54
URI:	http://repository.sgu.ac.id/id/eprint/1239

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