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Method of Identifying Object Orientation

IP.com Disclosure Number: IPCOM000061422D
Original Publication Date: 1986-Jun-01
Included in the Prior Art Database: 2005-Mar-09
Document File: 1 page(s) / 11K

Publishing Venue

IBM

Related People

Amos, RA: AUTHOR [+2]

Abstract

A method is presented for use with a vision aided computer- controlled robotic manipulator for assembly operations. The described method allows the system user to predetermine optimal orientation of an object and to design an assembly operation to present the object within + 90 _ degrees of its optimal orientation.

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Method of Identifying Object Orientation

A method is presented for use with a vision aided computer- controlled robotic manipulator for assembly operations. The described method allows the system user to predetermine optimal orientation of an object and to design an assembly operation to present the object within + 90 _ degrees of its optimal orientation.

The process of designing a vision aided robotics application requires a determination of camera mount position as well as how to nominally present objects for recognition by the system. This determination is a function, in part, of knowledge of the major and minor axes of each object to be recognized. The major and minor axes represent the second moments of inertia of the object and may not be easily visualized. This method allows the user to make an informed choice for camera mounting and nominal object presentation.

The system creates and displays an image of the major axis of a desired object and its major axis, superimposed. Also displayed is a line representing the transition orientation at which the object is determined to be 180 degrees from the desired position. In the optimal situation, the relative camera position and object position is such that the major axis is 90 degrees away from the transition line.

This method is implemented in software and may be activated in the teach mode preferably by depressing predetermined keys on a teach pendant.

Anonymous.

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