The handling of initially disordered mechanical parts with a robot manipulator needs some procedure for orientating these parts. A simple microprocessorcontrolled TVsensor which enables an industrial robot to perform this function by measurement of orientation and position of the parts is described. Constraining the parts to a finite number of stable positions by mechanical devices preceding the visual sensor, restriction to binary images, processing of only a few information carrying TVlines and a simple recognition algorithm lead to an easily programmable microprocessorcontrolled visual sensor which accomplishes all practical requirements of flexibility, high speed, low memory size and low costs.
Industrial Robot: An International Journal – Emerald Publishing
Published: Apr 1, 1976
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