Abstract

The design of a robust guidance system for a robot is discussed. The two major tasks for this guidance system are the online recognition of a moving object invariant to rotation and translation, and tracking the moving object using a neural-network-driven vision system. This system included computer software ported to the IBM PC and interfaced with an IBM 7535 robot. The operation of this guidance system involved recognition of a moving object and the ability to track it till the robot and effector was in close proximity of the object. It was found that the robot was able to track a moving object as long as it did not leave the region visible to the camera. Recognition was successfully demonstrated for objects of arbitrary shapes. Even similarly shaped objects of different sizes were correctly recognized.

Meeting Name

IEEE 1992 National Aerospace and Electronics Conference, 1992

Department(s)

Mechanical and Aerospace Engineering

Second Department

Engineering Management and Systems Engineering

Keywords and Phrases

IBM 7535 Robot; IBM PC; IBM Computers; Computer Software; Computer Vision; Guidance of Robots; Moving Object; Neural Nets; Neural Networks; Online Recognition; Pattern Recognition; Position Control; Recognition; Robots; Tracking

Document Type

Article - Conference proceedings

Document Version

Final Version

File Type

text

Language(s)

English

Rights

© 1992 Institute of Electrical and Electronics Engineers (IEEE), All rights reserved.