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
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;
Conference_Titel :
Control, Automation, Robotics and Vision, 2002. ICARCV 2002. 7th International Conference on
Print_ISBN :
981-04-8364-3
DOI :
10.1109/ICARCV.2002.1234935
