Title

VISION-BASED SYSTEM FOR ORIENTATION OF PARTS SUPPLIED IN BULK.

Document Type

Conference Proceeding

Date of Original Version

12-1-1985

Abstract

In some industrial applications it is not economical or possible to orient parts with standard devices such as vibratory feeders, because of their tendency to tangle, or to adhere, or be damaged by such a process. We have developed a vacuum technique for acquiring a relatively small, and therefore manageable number of such parts in a clump that can be separated by pneumatic and gravity techniques. Once separated, the parts can be individually acquired by a robot guided by vision algorithms that compute the location and orientation of each part in a field of separated but randomly-oriented parts. We describe the basic concepts and algorithms, and their implementation in a low-cost integrated robot-camera-computer system that is fast enough to be feasible for typical applications. A case study of one such application is used to illustrate the method.

Publication Title

Proceedings of SPIE - The International Society for Optical Engineering

Volume

579

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