Abstract
M.Ing. (Mechanical Engineering)
In this study a manipulator was developed by using system design methods. The main
aim was to develop a robot which could be used as a packer in an industrial
environment. Pneumatic silinders have been used with great success but up to now
seldom in areas where positional accuracy is required. To design a manipulator which
is able to operate in a varying work space it must be supplied with specialized sensors.
For this reason research was done into image processing. Most of the relevant
techniques of image processing arc discussed shortly with particular emphasis on the
method of moment invariants for object recognition.
Another important aspect covered in the project is the way by which articulated
mechanical systems can be modelled kinematically and dynamically. The kinematical
description was especially studied and in particular the method introduced by Denavit
and Hartenberg and the method of general matrix transformations.