Title :
Fuzzy control for tracking and handling of moving objects
Author :
Tao, Zhenwei ; Nguyen, Hung T.
Author_Institution :
Sch. of Electr. Eng., Univ. of Technol., Sydney, NSW, Australia
Abstract :
A robot system equipped with an overhead CCD (charge coupled device) camera which is able to recognize, track, and handle objects on a moving conveyor belt has been built. For image processing, a line segment-coded description based on a chain-coded technique is proposed to recognize the unknown objects in different shapes. In the robot control part, a fuzzy logic controller is designed to control the end-effector tracking and handling of moving objects. The whole system is controlled by a 16-bit personal computer, and works in real time. The advantage of the fuzzy control method is that it is easy to implement with high tracking quality without the need for accurate modeling of the robot dynamics
Keywords :
CCD image sensors; concatenated codes; controllers; conveyors; fuzzy control; image coding; microcomputer applications; object recognition; optical tracking; real-time systems; robot vision; 16 bits; chain-coded technique; charge coupled device; end-effector tracking; fuzzy logic controller; handling of moving objects; image processing; line segment-coded description; moving conveyor belt; personal computer; real time; robot system; tracking quality; Belts; Cameras; Charge coupled devices; Charge-coupled image sensors; Fuzzy control; Image processing; Image recognition; Image segmentation; Robot vision systems; Shape;
Conference_Titel :
Communications, Computers and Signal Processing, 1993., IEEE Pacific Rim Conference on
Conference_Location :
Victoria, BC
Print_ISBN :
0-7803-0971-5
DOI :
10.1109/PACRIM.1993.407226
