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CONFIGURATION OF HAND
SEARCH ALGORITHM DEVELOPMENT
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3.0 L inches angle is defined approximately assumed beam splitter binary image calculate computer can determine conveyor belt cylindrical surface DEFINING THE SEARCH determined the orientation E/R and L/R edge of surface electric eye element excited end effector error distance exact orientation flowchart Found left edge geometric center given E/R grasping and rotating ground reference hand moves hidden line removal identify the object Isomerit plot KWWV L/R ratio locate the object matrix row maximum number maximum scan angle maximum travel angle minimum task Move left number of steps object travelling Optical computing optimization optimums parallel parameters pattern recognition photoelectric cell matrix plane reflected laser beam reflecting back relative clearance relative distance relative rotation required to identify robot Scan Step Search Circle search height search pattern Search Position search radius shown in Figure theta plot three fingers Top view total task TR values translation rate variable versatile grasping Yes Found left