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Proceedings Paper

Stereovision control of OCEANO 6000 system
Author(s): P. Abellard; F. Lafont; M. Ben Khelifa; R. Capobianco; M. Portes; N. Razafindrakoto
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Paper Abstract

The design and the control of robotic arms require the elaboration of a mathematical model of the manipulator, but the equation complexity pose a problem in practical use. An approach based on data flow Petri nets is proposed because conventional multiprocessors built on Von Neuman's model have some important limitations and do not almost allow to obtain the performances expected, contrarily to data flow architecture which is structurally different. The computer is here in order to improve the teleoperation performances and it is conceived as a help and support for all the units in the system including the human operator. This assistance which is the robotic aspect of teleoperation, has been brought to the fore in connection with OCEANO 6000 system with which we have carried out our manipulations and whose control requires the real-time carrying out of numerous and bulky calculations that must be performed in parallel on adapted architectures. The aim of this paper is to present: (1) a robotics application, (2) a stereo vision system for 3D measurements, (3) a parallel data flow multiprocessor for image processing, (4) a data flow Petri nets modeling of calculations and robot control with images.

Paper Details

Date Published: 26 August 1996
PDF: 9 pages
Proc. SPIE 2785, Vision Systems: New Image Processing Techniques, (26 August 1996); doi: 10.1117/12.248549
Show Author Affiliations
P. Abellard, Univ. de Toulon et du Var (France)
F. Lafont, Univ. de Toulon et du Var (France)
M. Ben Khelifa, Univ. de Toulon et du Var (France)
R. Capobianco, Univ. de Toulon et du Var (France)
M. Portes, Univ. de Toulon et du Var (France)
N. Razafindrakoto, CNRIT (France)

Published in SPIE Proceedings Vol. 2785:
Vision Systems: New Image Processing Techniques
Philippe Refregier, Editor(s)

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