Vision-based Control of an Industrial Robot Arm

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Chapter 1 Introduction Oneithersidetherestoodgoldand silvermastiffswhichVulcan,with hisconsummateskill,hadfashioned expresslytokeepwatchoverthe palaceofkingAlcinous;sotheywere immortalandcouldnevergrowold. Homer,Odyssey7.78-94 In this introductory chapter we will first see a brief historical excursus, thatgivesusthebackgroundandthemotivationbehindtheprojectthisreport isabout;itfollowsadescriptionoftheprojectitselfandanoverviewofthe structureofthereport. 1.1 Background Mankindhadstartedbeingfascinatedbyrobotics 1 thousandsofyearsago: already in Greek mythology (precisely in Iliad and also in the successively written Odyssey, both attributed to Homer) the god of fire and volcanoes Hephaestus created golden mechanical servants [2] to protect the palace of king Alcinous. Over the following centuries, an impressive number of mechanicaldevicesthatcouldbeconsideredtheancestorsofmodernrobots havebeenbuilt. Somenoteworthyexamplesofthesedevicesarethedigesting duck 2 (figure1.1(a))orthetea-servingdoll(figure1.1(b)). Inthelastdecades, technologygavetothehumankindthepossibilitytodramaticallyimprove thesedevicesandsciencefictionalwriterswerespeculatingmoreandmoreon howcomplexandfuturisticthesedevicescouldbecomeinthefuture,because 1 Thetermrobotderivesfromtheslavicwordrobota(forcedlabor),anditbecamepopular after having been coined by the playwright Karel ˇ Capek in his play “R.U.R.” (acronym for Rossum’sUniversalRobots),whichpremieredin1921[1]. 2 AnautomatoncreatedbyJacquesdeVaucansonin1739consistinginamechanicalduck capableofeatinggrainanddigestingit[3]. 1

Anteprima della Tesi di Walter Tizzano

Anteprima della tesi: Vision-based Control of an Industrial Robot Arm, Pagina 2

Tesi di Laurea Magistrale

Facoltà: Ingegneria

Autore: Walter Tizzano Contatta »

Composta da 120 pagine.

 

Questa tesi ha raggiunto 71 click dal 06/11/2012.

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