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Proceedings Paper

Robot Eve-In-Hand Using Solid State Linear Array Sensor
Author(s): R. C. Luo; M . Y. Chern
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Paper Abstract

An intelligent robot control system based on dynamic sensing feedback using visual eye-in-hand systems have attracted great research efforts, because these systems have several advantages over the use of a fixed external video camera system. For example, it ignores inadequate lighting and background contrast, optical shadows, environmental lighting variables, and an increased maneuverability to access widely scattered or hidden parts. This paper presents an eye-in-hand system using a solid-state linear line scanner as the sensing element. The system currently has the ability to determine the pose and shape of objects, and also is capable of defining the proper grasping site prior to grasping. The paper also describes the system configuration and the proposed object learning and recognition procedure using line scan methods in detail. In this research, an experimental model is built which is used to simulate a fully opened parallel jaw gripper. A photodiode array is embedded in one side of the finger. A Compaq microcomputer based on the Intel 8088 microprocessor is used as the host. An interface between linear array video scanning signals, CPU and Video RAM is built and successfully tested.

Paper Details

Date Published: 11 December 1985
PDF: 9 pages
Proc. SPIE 0579, Intelligent Robots and Computer Vision IV, (11 December 1985); doi: 10.1117/12.950794
Show Author Affiliations
R. C. Luo, North Carolina State University (United States)
M . Y. Chern, Northwestern University (United States)


Published in SPIE Proceedings Vol. 0579:
Intelligent Robots and Computer Vision IV
David P. Casasent, Editor(s)

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