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11 March 1993 Integrated self-tuning control accelerator and computer vision system for robot arms
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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.
© (1993) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Eliana P. L. Aude, Julio S. Aude, Mario F. Martins, Henrique Serdeira, and 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);


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