Engineering Commons^™

The Use Of Computer Vision To Close The Control Loop Of A Robot Arm, Randall S. Janka

Retrospective Theses and Dissertations

Flexible automation is a partial solution to America's industrial and economic recovery and survivability. At the core of this manufacturing technology is the robot whose own flexibility is enhanced through the use of computer vision to close the control loop on the arm and also give the robot environmental intelligence. The basic subdivisions of a computer vision system are sensing, segmentation, description, recognition, and interpretation. When the vision processor analyzes a scene it can give the robot controller symbolic object information and object coordinates. The robot controller transforms such coordinates into its own reference frame through the use of homogeneous …