Robot Eve-In-Hand Using Solid State Linear Array Sensor

R. C. Luo; M . Y. Chern

doi:10.1117/12.950794

11 December 1985 Robot Eve-In-Hand Using Solid State Linear Array Sensor

R. C. Luo, M . Y. Chern

Proceedings Volume 0579, Intelligent Robots and Computer Vision IV; (1985) https://doi.org/10.1117/12.950794
Event: 1985 Cambridge Symposium, 1985, Cambridge, United States

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.

Citation Download Citation

R. C. Luo and M . Y. Chern "Robot Eve-In-Hand Using Solid State Linear Array Sensor", Proc. SPIE 0579, Intelligent Robots and Computer Vision IV, (11 December 1985); https://doi.org/10.1117/12.950794

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available