DocumentCode
2114268
Title
Handling of randomly located moving parts using FPGA-based realtime vision
Author
Hirai, Shinichi ; Tsuboi, Tatsuhiko ; Zakouji, Maxakazu ; Shibata, Misuho
Author_Institution
Dept. of Robotics, Ritsumeikan Univ., Shiga, Japan
Volume
3
fYear
2002
fDate
2-5 Dec. 2002
Firstpage
1150
Abstract
We will develop a manipulator system that can handle randomly located, moving parts. Vision algorithm to detect the planar motion of a part is implemented on an FPGA-based realtime vision system. Trajectory of a manipulator is replanned in realtime according to the detected location of a part. We will present the control architecture and will show experimental results,.
Keywords
field programmable gate arrays; manipulators; materials handling; position control; real-time systems; robot vision; FPGA; control architecture; manipulator system; planar motion; realtime vision system; vision algorithm; Algorithm design and analysis; Costs; Field programmable gate arrays; Logic circuits; Logic design; Machine vision; Motion detection; Robot vision systems; Stereo vision; Very large scale integration;
fLanguage
English
Publisher
ieee
Conference_Titel
Control, Automation, Robotics and Vision, 2002. ICARCV 2002. 7th International Conference on
Print_ISBN
981-04-8364-3
Type
conf
DOI
10.1109/ICARCV.2002.1234935
Filename
1234935
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