An Algorithm for Fast Location and Identification of Objects Using a Laser Beam Search |
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R. David Foral. Start Scan LE No ? Yes Found " right " edge . Store . Move " left " . No RE ? Move " left " . " left " . Found left edge . Move right RE ? Yes Yes No Found right edge . LE ? Yes LE ? Yes No Can Found " left " edge . No ...
R. David Foral. Start Scan LE No ? Yes Found " right " edge . Store . Move " left " . No RE ? Move " left " . " left " . Found left edge . Move right RE ? Yes Yes No Found right edge . LE ? Yes LE ? Yes No Can Found " left " edge . No ...
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... Found " left " edge . Move right Yes RE ? 4 Found " left " edge of hole . Move left . Yes LE ? No Calculate Ldark Ldark max Yes Found right edge.Section is solid No Found left edge of surface . Move to original position . Move right ...
... Found " left " edge . Move right Yes RE ? 4 Found " left " edge of hole . Move left . Yes LE ? No Calculate Ldark Ldark max Yes Found right edge.Section is solid No Found left edge of surface . Move to original position . Move right ...
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... Found right edge Move left Yes LE ? No 6 Found right edge of hole Move right Yes RE ? No Calculate Ldark Ldark Yes Found left max edge . Sect . is solid Found right edge of surface Original position Move left No Move left No LE ? No LE ...
... Found right edge Move left Yes LE ? No 6 Found right edge of hole Move right Yes RE ? No Calculate Ldark Ldark Yes Found left max edge . Sect . is solid Found right edge of surface Original position Move left No Move left No LE ? No LE ...
Contents
Figure Page | 4 |
CONFIGURATION OF HAND | 8 |
SEARCH ALGORITHM DEVELOPMENT | 16 |
18 other sections not shown
Common terms and phrases
2.0 L inches angle is defined applications approximately assumed beam splitter binary image calculate computer can determine conveyor belt cylindrical surface DEFINING THE SEARCH E/R and L/R edge of surface electric eye element excited end effector error distance exact orientation flowchart Found left edge Found right edge geometric center given E/R grasping and rotating ground reference hidden line removal identify the object Isomerit plot L/R ratio Ldark local optimums locate the object matrix row maximum number maximum scan angle maximum travel angle minimum task Move left Move right number of steps Optical computing optimums parameters pattern recognition perform photoelectric cell matrix plane reflected laser beam Reflective surface Figure relative clearance relative distance required to identify robot Scan Line Scan Step Search Circle search height search pattern Search Position search radius shown in Figure step angle theta plot three fingers Top view total task TR values translation rate variable