Multisensor controlled robotic tracking and automatic pick and place

A multisensor controlled robotic tracking and automatic pick and place system is presented in this paper. The system is designed for recognizing and tracking an object which is selected from multiple objects that are unknown and randomly placed on a moving conveyor belt, using a vision, infrared and encoder sensors in the feedback loop. The robot tracks the parts and transfers them to the proper pallets. We address the use of vision system for identifying and locating objects on a moving conveyor belt, besides we address the use of vision, infrared and encoder sensors for dynamically servoing a manipulator for object tracking, grasping and placing. Laboratory experiments are presented to demonstrate the performance of this system.