A system for robot manipulation of electrical wires using vision

Robotica ◽  
1990 ◽  
Vol 8 (1) ◽  
pp. 47-60 ◽  
Author(s):  
David Vernon
Keyword(s):  
Robot Control ◽  
Robot Manipulator ◽  
Vision System ◽  
Imaging Techniques ◽  
Robot Vision ◽  
General Purpose ◽  
Camera Model ◽  
Cycle Times ◽  
Grey Scale ◽  
Automated Handling

SUMMARYA prototype robot system for automated handling of flexible electrical wires of variable length is described. The handling process involves the selection of a single wire from a tray of many, grasping the wire close to its end with a robot manipulator, and either placing the end in a crimping press or, for tinning applications, dipping the end in a bath of molten solder. This system relies exclusively on the use of vision to identify the position and orientation of the wires prior to their being grasped by the robot end-effector. Two distinct vision algorithms are presented. The first approach utilises binary imaging techniques and involves object segmentation by thresholding followed by thinning and image analysis. An alternative general-purpose approach, based on more robust grey-scale processing techniques, is also described. This approach relies in the analysis of object boundaries generated using a dynamic contour-following algorithm. A simple Robot Control Language (RCL) is described which facilitates robot control in a Cartesian frame of reference and object description using frames (homogeneous transformations). The integration of this language with the robot vision system is detailed, and, in particular, a camera model which compensates for both photometric distortion and manipulator inaccuracies is presented. The system has been implemented using conventional computer architectures; average sensing cycle times of two and six seconds have been achieved for the grey-scale and binary vision algorithms, respectively.

Towards a New Approach to Vision: Applications to Robots and Humans

1987 ◽  
Vol 31 (11) ◽  
pp. 1281-1285
Author(s):  
John G. Kreifeldt ◽  
Ming C. Chuang
Keyword(s):  
Spatial Perception ◽  
Vision System ◽  
Three Dimensional ◽  
Robot Vision ◽  
High Volume ◽  
General Purpose ◽  
Human Vision ◽  
Computer Algorithms ◽  
New Research ◽  
High Level

A description of a novel and very speculative approach to new research directions for human vision with application to robotic vision is described. The goal of the approach is to propose a plausible, implementable, spatial perception model for human vision and apply this model to a stereo robot vision system. The model is based on computer algorithms variously called “Multidimensional Scaling”, well known in psychology and sociology but relatively unknown in engineering. These algorithms can reconstruct a spatially accurate model to a high level of metric precision of a “configuration of points” from low quality, error prone non-metric data about the configuration. ALSCAL – a general purpose computer package adaptable for this purpose is being presently evaluated. This is a departure from typical engineering approaches which are directed toward gathering a low volume of highly precise referenced data about the positions of selected points in the visual scene and substitutes instead an approach of gathering a high volume of very low precision relative data about the interpoint spacings. It would seem that the latter approach is the one actually used by the human vision system. The results are highly encouraging in that the agreement between test configurations of two and three dimensional configurations of points are very faithfully reconstructed from as low as 10 points in a configuration using only rank ordered (i.e. nonmetric) information about interpoint spacings. The reconstructions are remarkably robust even under human-like “fuzzy” imprecision in visual measurements.

Device and System Development of General Purpose Digital Vision Chip

2000 ◽  
Vol 12 (5) ◽  
pp. 515-520 ◽  
Author(s):  
Takashi Komuro ◽  
◽  
Shingo Kagami ◽  
Idaku Ishii ◽  
Masatoshi Ishikawa
Keyword(s):  
Visual Feedback ◽  
High Speed ◽  
Robot Control ◽  
System Development ◽  
Vision System ◽  
General Purpose ◽  
Cmos Process ◽  
Vision Chip ◽  
Processing Elements ◽  
Photo Detectors

We have been developing a VLSI device called vision chip in which photo detectors are integrated with paralled processing elements and that realizes high speed robot control using visual feedback. Using a 0.35μm CMOS process, we have developed a 16 × 16 prototype chip and have demonstrated some image acquiring and processing experiments. A vision system which includes the vision chip has also been constructed.

Embedded Robot Vision System Based on DSP

2015 ◽  
Vol 734 ◽  
pp. 168-171
Author(s):  
Xing Ze Li ◽  
Ling Zhu ◽  
Yi Hua
Keyword(s):  
System Design ◽  
Real Time ◽  
Robot Control ◽  
Vision System ◽  
Industrial Robot ◽  
Robot Vision ◽  
Ccd Camera ◽  
Target Object ◽  
The Real ◽  
Time Problem

Aim at the real-time problem of industrial robot vision system, design a embedded robot vision system based on DSP microprocessor. This system can use CCD camera and the ultrasonic sensor to collect the target environment information. It also can use the processor DSP to process the images and recognize target. And then through the communication module, send results in the form of wireless to the upper computer, providing target object information for robot control layer. This system completes the software and hardware system design, image collection & processing and robot control, as well as meet the real-time requirements of machine vision system.

scholarly journals Industrial Robot Vision System

1983 ◽  
Vol 16 (20) ◽  
pp. 337-341
Author(s):  
V.M. Grishkin ◽  
F.M. Kulakov
Keyword(s):  
Vision System ◽  
Industrial Robot ◽  
Robot Vision

A Robot Vision System Based on Two-Dimensional Object-Oriented Models

1986 ◽  
Vol 16 (4) ◽  
pp. 582-589 ◽  
Author(s):  
Lorenz A. Schmitt ◽  
William A. Gruver ◽  
Assad Ansari
Keyword(s):  
Vision System ◽  
Robot Vision ◽  
Object Oriented ◽  
Two Dimensional ◽  
Dimensional Object

scholarly journals 3D Robot Vision System through 2D Shape Based Matching Using Gaussian Smoothing for Gluing Application

2018 ◽  
Vol 7 (4.33) ◽  
pp. 487
Author(s):  
Mohamad Haniff Harun ◽  
Mohd Shahrieel Mohd Aras ◽  
Mohd Firdaus Mohd Ab Halim ◽  
Khalil Azha Mohd Annuar ◽  
Arman Hadi Azahar ◽  
...  
Keyword(s):  
Template Matching ◽  
Shape Matching ◽  
Vision System ◽  
Recognition Rate ◽  
Three Dimensional ◽  
Robot Vision ◽  
Region Of Interest ◽  
Gaussian Smoothing ◽  
Detection Approach ◽  
Vision Algorithm

This investigation is solely on the adaptation of a vision system algorithm to classify the processes to regulate the decision making related to the tasks and defect’s recognition. These idea stresses on the new method on vision algorithm which is focusing on the shape matching properties to classify defects occur on the product. The problem faced before that the system required to process broad data acquired from the object caused the time and efficiency slightly decrease. The propose defect detection approach combine with Region of Interest, Gaussian smoothing, Correlation and Template Matching are introduced. This application provides high computational savings and results in better recognition rate about 95.14%. The defects occur provides with information of the height which corresponds by the z-coordinate, length which corresponds by the y-coordinate and width which corresponds by the x-coordinate. This data gathered from the proposed system using dual camera for executing the three dimensional transformation.  

Robotic grasping with obstacle avoidance using octrees

2020 ◽  
Vol 25 (3) ◽  
pp. 7-12
Author(s):  
Rud V.V. ◽  
Keyword(s):  
Control Systems ◽  
Current Problem ◽  
Robot Manipulator ◽  
General Purpose ◽  
Advantages And Disadvantages ◽  
Specific Position ◽  
Recognition Of Objects ◽  
Manipulator Control ◽  
A Current

This paper considers the problems of the integration of independent manipulator control systems. Areas of control of the manipulator are: recognition of objects and obstacles, identification of objects to be grasped, determination of reliable positions by the grasping device, planning of movement of the manipulator to certain positions with avoidance of obstacles, and recognition of slipping or determination of reliable grasping. This issue is a current problem primarily in industry, general-purpose robots, and experimental robots. This paper considers current publications that address these issues. Existing algorithms and approaches have been found in the management of both parts of the robot manipulator and solutions that combine several areas, or the integration of several existing approaches. There is a brief review of current literature and publications on the above algorithms and approaches. The advantages and disadvantages of the considered methods and approaches are determined. There are solutions that cover either some areas or only one of them, which does not meet the requirements of the problem. Using existing approaches, integration points of existing implementations are identified to get the best results. In the process, a system was developed that analyzes the environment, finds obstacles, objects for interaction, poses for grasping, plans the movement of the manipulator to a specific position, and ensures reliable grasping of the object. The next step was to test the system, test the performance, and adjust the parameters for the best results. The resulting system was developed by the research team of RT-Lions, Technik University, Reutlingen. The hardware research robot includes an Intel Realsense camera, a Sawyer Arm manipulator from Rethink Robotics, and an internally grabbing device.

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