ADAPTIVE CONTROL OF A ROBOT MANIPULATOR BY VISUAL DATA A Ph.D. THESIS In Mechanical Engineering University Of Gaziantep By Sadettin KAPUCU December 1994Approval of the Graduate School Of Natural And Applied Science Director 1 certify that I have read this thesis and that in my opinion it is fully adequate, in scope and quality, as a dissertation for the degree of Doctor of Philosophy. Dr. S YSEC Chairman of the Department | certify that 1 have read this thesis and that in my opinion it is fully adequate, in scope and quality, as a dissertation for the degree of Doctor of Philosophy. er BAYSEC Major Supervisor EB mittee in Char; Prof.Dr.Kemal OZGOREN kK. : Gb oats 1 iz. AK 4 off Prof.Dr.1.Huseyin FILIZ Prof.Dr.Alexander P.VOSCHININ Assoc.Prof.Dr.Sedat BAYSECABSTRACT ADAPTIVE CONTROL OF A ROBOT MANIPULATOR BY VISUAL DATA KAPUCU Sadettin Ph.D. in Mechanical Engineering ‘Supervisor: Assoc.Prof.Dr.Sedat BAYSEC December 1994, 142 pages One important research area on robotics is equipping robots with more sophisticated sensory systems such that control computer compiles more extensive data about the environment and the manipulator itself. This extensive data help to monitor the events occurring, to adapt and to respond accordingly. Among the senses known to man, vision is by far the most important, and helps not only in data compilation but learning as well. Although vision provides an invaluable data, generally its processing takes too much time, not permissible at the shop floor. This thesis aims at putting simpler means of determining the position of an object, defining, it not by intricate image identification techniques but by simply specifying it based on 3 non-coinciding spots of distinctive color put on the objects handled, by photogrammetry in stereovision. A set of general purpose control routines are developed to control any size and topology manipulator. The type of joints and link parameters are obtained by incrementing the joint motors and monitoring the corresponding motion of the manipulator tip. Location of the end effector is identified iti