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

Volume

1

fYear

1993

fDate

19-21 May 1993

Firstpage

35

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Communications, Computers and Signal Processing, 1993., IEEE Pacific Rim Conference on

Conference_Location

Victoria, BC

Print_ISBN

0-7803-0971-5

Type

conf

DOI

10.1109/PACRIM.1993.407226

Filename

407226