11 March 1993 Integrated self-tuning control accelerator and computer vision system for robot arms
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Abstract
Systems for high-precision control of the trajectory to be followed by a robot arm grip need to properly model the interaction among the robot arm joints and to cope with the high-speed and nonlinearities of the arm dynamics. To solve this problem the use of a hardware accelerator, which is able to explore parallelism within multivariable self-tuning control algorithms, is proposed. The accelerator works as part of an integrated system which incorporates facilities of computer vision and robot arm trajectory definition. The computer vision sub-system recognizes the position of an object selected to be picked by the robot arm and the trajectory definition sub-system uses a neural network to define the angular position of the joints along the trajectory to be followed by the arm.
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Eliana P. L. Aude, Julio S. Aude, Mario F. Martins, Henrique Serdeira, Emerson Prado Lopes, "Integrated self-tuning control accelerator and computer vision system for robot arms", Proc. SPIE 1964, Applications of Artificial Intelligence 1993: Machine Vision and Robotics, (11 March 1993); doi: 10.1117/12.141773; https://doi.org/10.1117/12.141773
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