Image recognition application for robotic manipulation of moving objects

In this paper, an integration between a computer vision system and an industrial robot is simulated, in order to select and to position simple geometric shapes which are on a moving conveyor belt. To do so, a programming code was developed in the software Matlab®, capable to do the image processing tasks needed to obtain the desired object´s centroid. Subsequently, an inverse kinematics analysis is made so the trajectory that the robot must follow to position the shape is generated. The code´s main features is the possibility to choose among different shapes as triangles, rectangles, circles and so on; and that the found object´s centroid is presented in world units (i.g. millimeters).