DESIGN OF AN INTERFACE BETWEEN A VISION SYSTEM AND A ROBOT CONTROLLER
Date
1988-07
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Degree Level
Masters
Abstract
The aim of this project has been to convert an ordinary pick-and-place robot into a sensing robot. By integrating a robot system with a vision system, the robot has been given the capability to "see" its environment and collect moving objects. Pictures of a moving object were taken with a video camera. The analog output from the camera was digitised using a Truevision Advanced Raster Graphics Adapter (TARGA) board, installed in a microcomputer. An algorithm was developed to process these images and to find the centre of the object at various positions. The processed data were combined with appropriate commands and were sent to an SRS-M1 robot system using an Advanced Communication Interface (ACI) protocol. With this system the robot was able to locate an object moving in the field of view of the camera, and move the arm into position to collect it.
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Degree
Master of Science (M.Sc.)
Department
Electrical Engineering