Examination Committee

Prof Shaojie SHEN, ECE/HKUST (Chairperson)
Prof Zexiang LI, ECE/HKUST (Thesis Supervisor)
Prof Fu ZHANG, ECE/HKUST
 
 

Abstract

This thesis describes the design and development of a system for secondary machining of complex 3D surface which selects high-precision 3D vision system as input and industrial robot as effector. This system consists of calibration subsystem, area extraction & identification subsystem, robot trajectory generation subsystem and robot control subsystem. It is designed to solve the localization problem of workpiece whose location is randomized in 3D space, and realizes the function of machining in the designated area on the surface of some sample workpieces. The main significance of this system is to expand the robot industry application, and reduce the difficulty of using robots in the machining system. Meanwhile, this system can improve the adaptability of production line, reduce the accuracy requirements for raw materials, and make product customization easier.