摘要:

AbstractA method for detecting an ellipse in an image by use of a recursive least‐squares estimator is described. This method is based on classifying the behavior of parameters in a quadratic equation estimated by the estimator. The segmentation of an image is executed using a statistical measure called the adjacent separability factor. Noise elimination is performed by the expansion‐contraction method and a contour for each region is extracted. Points on the contour are supplied to a recursive least‐squares estimator in succession and the parameters in a quadratic equation are estimated recursively. It is possible to decide whether the contour is an ellipse by analyzing the behavior of an estimated parameter. A main feature of this method is the generality and the simplicity of the proc

ISSN:0741-2223    

DOI:10.1002/rob.4620020202

出版商:Wiley Subscription Services, Inc., A Wiley Company    

年代:1985

数据来源: WILEY

摘要:

AbstractThe image analysis software for visual inspection purposes developed at IPA, the Fraunhofer‐Institute for Manufacturing Engineering and Automation, is described. Its basic mathematical framework, its organization scheme, some of its contents, as well as some examples are given. Current research and future developments are discusse

ISSN:0741-2223    

DOI:10.1002/rob.4620020203

出版商:Wiley Subscription Services, Inc., A Wiley Company    

年代:1985

数据来源: WILEY

摘要:

AbstractSince sensory feedback is an important part of robot control and the acquisition, manipulation, and recognition of objects, incorporating a sense of touch into a robotic system can greatly enhance the performance of that system. This article describes the evaluation of a recently developed low‐resolution tactile array sensor pad system for use in robotic applications. Computer algorithms are developed which acquire data from the sensor pad and display the data on a CRT screen. Vision algorithms are implemented in order to extract the necessary information from the tactile data which will aid in the acquisition, manipulation, and recognition of objects. An object's pose is estimated by calculating its center of gravity (position) and principal axis (orientation). Recognizing an object and distinguishing between different objects is accomplished by implementing algorithms which estimate an object's perimeter (shape) and area (size). This work demonstrates that a low‐resolution tactile array sensor is capable of providing the information that is required for many robotic applications in which objects must be acquired, manipulated, and recognized. Such a system provides a low‐cost alternative to more conventional vision‐based

ISSN:0741-2223    

DOI:10.1002/rob.4620020204

出版商:Wiley Subscription Services, Inc., A Wiley Company    

年代:1985

数据来源: WILEY

摘要:

AbstractA new technique for the adjustment of joint gears in industrial robots is presented. Band‐limited random excitation signals were injected into the drive system of the joint under test, and both the actuator shaft velocity and position were monitored. The coherence functions between the voltage at the terminals of the electric actuator and the position and velocity signals were determined. The change in the coherence functions was studied for various joint gear settings. An algorithm is proposed for determining the gear setting which results in the most linear operation of the joint drive system. This algorithm was tested on the adjustment of the gears of the wrist rotation joint of a PUMA 560 robot ar

ISSN:0741-2223    

DOI:10.1002/rob.4620020205

出版商:Wiley Subscription Services, Inc., A Wiley Company    

年代:1985

数据来源: WILEY

ISSN:0741-2223    

DOI:10.1002/rob.4620020201

出版商:Wiley Subscription Services, Inc., A Wiley Company    

年代:1985

数据来源: WILEY