Research Results

An Embedded Image Processing Platform for a Mobile Manipulator

研 究 生: 沈E瀚 Henrry Andrian
指導教授:宋開泰 博士
Dr.Kai-Tai Song


This study aims to construct a hardware and software implementation that provides a control scheme for a mobile manipulator. The control scheme uses visual information as feedback. The hardware implementation consists of a CMOS image board and a TI DSP DSK board which uses C6416 as the main processor. The merits of using these two boards are the construction of a low cost embedded platform with high performance. Meanwhile the software implementation propose a visual servoing using a behavior-based approach to solving the control scheme of the mobile manipulator problem.

圖 1 Hand in eye camera configurations

圖 2 obstacle avoidance

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