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Proceedings Paper

Integration of active vision and intelligent robotics for advanced material handling
Author(s): John R. G. Pretlove; Nongji Chen
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Paper Abstract

This paper presents an intelligent robotic system consisting of a PUMA 562 industrial robot arm, a novel open architecture robot controller and an active vision system. The tight integration of these three sub-systems has resulted in a high performance robotic based workcell which is capable of tracking objects which are following complex 3D trajectories and intercepting them. This work has been carried out within the MSRR group and has been aimed at developing robot systems which can overcome workcell uncertainties. The active stereo vision systems is designed on mechatronic principles and is modular, light weight and highly controllable. This system is robot mounted and can determine the 3D position of objects in real-time. The active stereo vision system communicates with the open architecture robot controller via a transputer link. The robot controller is based around transputer architecture hosted by an OS-9 system. It provides easy integration of external sensors and offers wide user accessibility to the internal robot control modules. A series of tests have been undertaken and are reported here which demonstrate the functional integration of the active vision system and the robot controller. The vision system is capable of tracking moving objects and this information is used to update the current robot trajectory. These experiments demonstrate the vision system in full control of the robot during a tracking an intercept duty cycle. Our practical experience of using the system is also discussed together with out views of the future.

Paper Details

Date Published: 3 October 1995
PDF: 12 pages
Proc. SPIE 2588, Intelligent Robots and Computer Vision XIV: Algorithms, Techniques, Active Vision, and Materials Handling, (3 October 1995); doi: 10.1117/12.222666
Show Author Affiliations
John R. G. Pretlove, Univ. of Surrey (United Kingdom)
Nongji Chen, Univ. of Surrey (United Kingdom)

Published in SPIE Proceedings Vol. 2588:
Intelligent Robots and Computer Vision XIV: Algorithms, Techniques, Active Vision, and Materials Handling
David P. Casasent, Editor(s)

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