TY - THES

T1 - 6 DOF Motion Control of a Robot-Driven Camera and its Application in Virtual Scenes

AU - Li, Yuan

N1 - embargoed until null

PY - 2011

Y1 - 2011

N2 - Nowadays cameras are used in many areas, for example image inspection and video games. This thesis explores a mathematical analysis for the interactive motion of a camera, which is moved by a robot and is controlled by a six degrees of freedom input device. Motion of camera includes roll, pitch and yaw rotations and the translation in its own and the global coordinate systems. Furthermore, the inverse kinematics of the robot was used to find the angles of the drive motors to accomplish the desired motion. Denavit-Hartenberg convention was applied to model a standard six degrees of freedom industrial robot. Camera and robot are implemented and animated in a virtual world written in VRML code (Virtual Reality Modeling Language), which was generated with a CAD program. The algorithms were programmed in Matlab/Simulink, which provides interfaces to the 3D mouse for input control and to the virtual world for the purpose of animation. Introductions to the mathematics of VRML transforms and to robot kinematics were given. After implementing and testing the equipment in a virtual world in VRML, the camera can be moved under the control of a 3D mouse. Now the algorithms are ready to be applied in a system with a real robot.

AB - Nowadays cameras are used in many areas, for example image inspection and video games. This thesis explores a mathematical analysis for the interactive motion of a camera, which is moved by a robot and is controlled by a six degrees of freedom input device. Motion of camera includes roll, pitch and yaw rotations and the translation in its own and the global coordinate systems. Furthermore, the inverse kinematics of the robot was used to find the angles of the drive motors to accomplish the desired motion. Denavit-Hartenberg convention was applied to model a standard six degrees of freedom industrial robot. Camera and robot are implemented and animated in a virtual world written in VRML code (Virtual Reality Modeling Language), which was generated with a CAD program. The algorithms were programmed in Matlab/Simulink, which provides interfaces to the 3D mouse for input control and to the virtual world for the purpose of animation. Introductions to the mathematics of VRML transforms and to robot kinematics were given. After implementing and testing the equipment in a virtual world in VRML, the camera can be moved under the control of a 3D mouse. Now the algorithms are ready to be applied in a system with a real robot.

KW - Interaktiv

KW - Animation

KW - Kinematik

KW - inverse

KW - kinematics

KW - animation

M3 - Diploma Thesis

ER -