Computer-Controlled Manipulator With Visual Inputs

George Saridis; C. S. G. Lee

doi:10.1117/12.956745

9 January 1979 Computer-Controlled Manipulator With Visual Inputs

George Saridis, C. S. G. Lee

Proceedings Volume 0155, Image Understanding Systems and Industrial Applications I; (1979) https://doi.org/10.1117/12.956745
Event: 22nd Annual Technical Symposium, 1978, San Diego, United States

Abstract

A computer control algorithm utilizing the modern control theory and the heuristic artificial intelligence approach has been developed to control the MIT Scheinman electric arm. The control algorithm is task-oriented with the capabilities of accepting visual input coordination and discrete word voice commands in addition to the linguistic commands typed in by an operator at the remote terminal. The motion of the arm is considered to be composed of motion of the wrist and orientation of the hand. A human operator, always present in the control loop and interacting with the system, generates linguistic task-directed commands at the remote terminal. A task-directed command is recognized, interpreted, and decoded into sequence of subtasks. The first subtask corresponds to the motion of the wrist which is controlled by the suboptimal feedback controller. The remaining four subtasks are further broken down into combinations of six primitive movements which govern the positon/orientation of the hand. The objective of the visual recognition algorithm is to identify objects and their locations surrounding the arm from its environmental library or model. The library is then updated to initiate the arm to complete its execution of task. Areas and circumferences of the objects are the two features chosen for recognition. The recognition of an object is then based on the threshold value of the weighted sum of area and circumference of the object. The set of weights is trained again when new object is introduced to the arm and incorporated into the library. The real time implementation of the algorithm on AARL MIT arm connected to a PDP 11/45 computer shows that it can recognize the objects surrounding the arm within 50 seconds.

Citation Download Citation

George Saridis and C. S. G. Lee "Computer-Controlled Manipulator With Visual Inputs", Proc. SPIE 0155, Image Understanding Systems and Industrial Applications I, (9 January 1979); https://doi.org/10.1117/12.956745

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available

Members: $17.00

Non-members: $21.00 ADD TO CART

PROCEEDINGS
7 PAGES

DOWNLOAD PAPER SAVE TO MY LIBRARY

GET CITATION

RIGHTS & PERMISSIONS

Get copyright permission Get copyright permission on Copyright Marketplace

KEYWORDS

Detection and tracking algorithms

Visualization

Cameras

Feedback control

Evolutionary algorithms

Image understanding

Algorithm development

Show All Keywords

Keywords/Phrases

Search In:

Publication Years