Document Type
Thesis
Date of Award
1-31-1988
Degree Name
Master of Science in Mechanical Engineering - (M.S.)
Department
Mechanical Engineering
First Advisor
Rajesh N. Dave
Second Advisor
Bernard Koplik
Third Advisor
Rong-Yaw Chen
Abstract
There has been a continued. interest in utilizing machine vision systems for robot guidance applications. Commercial vision systems can be programmed to give information about the parts in the robot work area and this information can be used by the robot computer to guide the robot. In most applications, however, the vision information cannot be easily integrated with the robot control language. This thesis considers implementation of part identification routines directly into a robot guidance language. This makes all the complicated machine vision algorithms transparent to the user and allows him to treat higher level vision functions as an extension of the robot control routines.
First, a textual robot guidance language is developed for a small educational robot by creating robot motion functions in 'C' language. For the purpose of guidance through vision, a set of routines is developed to extract information from a video camera. The vision system used here is a low cost micro-computer based unit with a video camera, a digitizer and a frame buffer. The image captured by the video camera is digitized and stored in the frame buffer. Low level processing is applied and the image is segmented, and the edges of the objects are detected. Various features such as perimeter, area, number of holes as well as the features of the holes can be extracted from the image using the algorithms described here. These features are used as a database to identify parts.
Different objects can be 'taught' to the system by first placing examples of these objects into the image field. The system automatically creates a feature set for each object and a database is created for all the objects. Once all the parts are taught to the system, it is able to recognize any part placed in the field as long as the parts are not overlapping. Now the user can access location and orientation of the parts through simple 'C' function calls and thus very easily implement the vision information into robot guidance language, which is also composed of functions written in 'C' language.
Recommended Citation
Jadhav, Raghunandan, "Development of a low cost PC based robot vision system" (1988). Theses. 3255.
https://digitalcommons.njit.edu/theses/3255
