It is agreed that computer vision system need to be integrated whithin advanced robotics systems (3th generation robotics). Integration of vision is made difficult because of the real time constraints and the highly specialized nature of the control and the perception modules. In this paper we present the programing of the experimental robot support of LIMSI under Unix. Three main lines of programming are discussed: object recognition with a camera, on line and off line programming of decision procedures and the control of two manipulators. A robust calibration method that does not require previous knowledge of the sensor caracteristics is used. Object recognition is carried out as follows: multilevel sampling, edges detection, clasification, features computing and search in a data base. These functions are performed by a dedicated computer, using a decentralised host processor. This computer structure helps solving the portability, cost and compatibility problems. The adopted solution to avoid the difficulties of Unix in the control of real-time processes seems to be a good compromise that allows to exploit the "universality" of Unix in the domain of robot programming. The flexible assembly cell includes two six degrees of freedom manipulators and peripheral equipment such as a conveyor belt. The programming of this cell for the robotisation of assembly sequences of an automobile shock-absorber is an experimental synthesis of the developed programs. The problem is one of the "canonical" experiments of the French National Research Project in Robotics (ARA program).
"Vision Integration In Advanced Robotics", Proc. SPIE 0595, Computer Vision for Robots, (9 June 1986); doi: 10.1117/12.952275; https://doi.org/10.1117/12.952275