Abstract
A robot-arm system which is able to recognize a moving patterns and to manipulate a moving object on a belt-conveyor at a various speed is built. This system consists of two parts.
The first part is related to recognizing patterns. In this part, a method of constructing a discriminant-tree is proposed, where three newly defined measures called effectiveness, importance and applicability are introduced. The robot-arm-system is able to recognize the shape and the size of moving patterns on a belt conveyor based on the discriminant-tree.
The second part is concerned with replacing a moving object ( i.e. grasping a moving object and putting it on an indicated moving mark) based on fuzzy-inference rules with the aid of image processing technique. The main idea is based on the concept of probabilistic sets in extended fuzzy expression. Ambiguous instructions in terms of membership and vagueness are generated by the robot itself using imagery data from a CCD-camera. Each of these instructions consists of three fuzzy items. In replacing part, two of three fuzzy items are input ( ambiguous ) information, and one is output information. One of the input information is the fuzzy speed of the moving object/mark, and another is the fuzzy distance between the robot-hand and the object/mark. Output fuzzy information shows the distance between the present position of the object/mark and the next position of it. This output information is calculated based on Fuzzy inference method.
The whole system is controlled by only one 16-bit-personal-computer, and works in real time. It also allows a human-like, flexible movement. The advantages of the proposed method are the reduction of processing time and the availability of low level devices, which have not been realized by other methods.
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Hirota, K., Hachisu, S., Arai, Y. (1988). Fuzzy Robot Vision and Fuzzy Controlled Robot. In: Turksen, I.B., Asai, K., Ulusoy, G. (eds) Computer Integrated Manufacturing. NATO ASI Series, vol 49. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-83590-2_11
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DOI: https://doi.org/10.1007/978-3-642-83590-2_11
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