1
Table of Contents
Introduction......................................................................................................................................2
The goal of the project .....................................................................................................................3
Image acquisition program...............................................................................................................5
How to use the program ...............................................................................................................5
Problems during programming ....................................................................................................6
Saving the path.................................................................................................................................7
Using ‘savePath.m’ ......................................................................................................................8
Controlling Gimbal ..........................................................................................................................9
Controlling the robot....................................................................................................................9
Arrangement in this project..........................................................................................................9
The Simulink models used in this project....................................................................................9
Math-file ‘ILCprocess.m’ ..........................................................................................................12
Using Gimbal and ‘ILCprocess.m’ ............................................................................................12
Conclusions....................................................................................................................................14
Bibliography...................................................................................................................................15
Appendix I......................................................................................................................................16
Appendix II ....................................................................................................................................22
Appendix III...................................................................................................................................29
(2 pages)
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