<title>Vision Processing For Robot Inspection And Assembly</title>

摘要

There are a number of Robot vision/image processing systems on the market at the moment. Basically these split into two categories, either they aim at a totalhardware/software system with direct robot interaction to be used in a wide variety of environments, or they consist of a software package to perform some of the more commonly used image processing functions. Neither of these two solutions seems to work particularly effectively in practice being, on the one hand too general and intolerant of working conditions, and on the other too unrelated to robotic inspection and assembly. To develop a more flexible and versatile vision system, a number of industrial problems will be studied, with the aim of finding the differences and similarities between them. Eventually a library of routines will be built up to cope with the different parts encountered. Presented here is one such study into the assembly of a power diode unit, comprising mainly of circular components.