A vision system for robotic inspection and manipulation

Conference · Wed Mar 01 04:00:00 EST 1989

OSTI ID:5294094

Trivedi, M M; Chen, ChuXin; Marapane, S

Advanced robotic systems should be able to perform a variety of tasks in complex, unstructured environments with increased level of autonomy. Robots provide the physical link between intelligence and action. Structurally, a robot can be considered as having three modules. These include, (1) Mechanical assemblies, such as robot arm, end effectors, and mobility platforms, (2) Sensors, for sensing the work environment of a robot, and (3) the Perception, Planning and Control unit, which is utilized for interpreting the sensory inputs and for planning and controlling the actions of the robot. Most of the robotic systems currently employed in the industry require a highly structured environment for the robot to operate. This requirement can be relaxed if the robot is endowed with an array of external sensors to sense its environment. The sensor-driven operation is critical for making robots more versatile and flexible to use. Advanced robotic systems which are capable of utilizing sensor modalities such as vision, range, force, and touch can be employed in a variety of application domains. Of these, vision is recognized to be a very important sensory modality. It offers rich sensory data for accurate and detailed interpretation of the composition of a robot's work environment. Object recognition, determination of their locations in the 3-dimensional workspace, inspection of their status are all important tasks where vision derived information can be effectively utilized. 10 refs., 6 figs., 3 tabs.

• Research Organization: Tennessee Univ., Knoxville, TN (USA). Dept. of Electrical and Computer Engineering
• Sponsoring Organization: DOE/NE
• DOE Contract Number: FG02-86NE37968
• OSTI ID: 5294094
• Report Number(s): DOE/NE/37968-11; CONF-890143--3; ON: DE90005412
• Country of Publication: United States
• Language: English

Related Subjects

42 ENGINEERING
420203* -- Engineering-- Handling Equipment & Procedures
440600 -- Optical Instrumentation-- (1990-)
47 OTHER INSTRUMENTATION
99 GENERAL AND MISCELLANEOUS
990200 -- Mathematics & Computers
AUTOMATION
CALIBRATION
CAMERAS
COMPUTERIZED CONTROL SYSTEMS
CONTROL SYSTEMS
DATA PROCESSING
DESIGN
ENERGY LEVELS
EQUIPMENT
EXCITED STATES
FABRICATION
IMAGE PROCESSING
INSPECTION
LABORATORY EQUIPMENT
MAN-MACHINE SYSTEMS
MANIPULATORS
MATERIALS HANDLING EQUIPMENT
MONITORING
NUCLEAR FACILITIES
NUCLEAR POWER PLANTS
PLANNING
POWER PLANTS
PROCESSING
RADIATION MONITORING
REMOTE HANDLING EQUIPMENT
REMOTE SENSING
ROBOTS
SOUND WAVES
TASK SCHEDULING
TEMPERATURE MONITORING
THERMAL POWER PLANTS
VIBRATIONAL STATES
VISION