NDLI: Visual robot guidance in conveyor tracking with belt variables

Content Provider	IEEE Xplore Digital Library
Author	Borangiu, T. Anton, F.D. Dogar, A.
Copyright Year	2010
Description	Author affiliation: University Politehnica of Bucharest (Borangiu, T.; Anton, F.D.; Dogar, A.)
Abstract	The paper presents a method and related algorithm for visual robot guidance in tracking objects moving on conveyor belts; the instantaneous location of the moving object is evaluated by a vision system consisting from a stationary, down looking monochrome video camera, a controller-integrated image processor and a vision extension of the structured V+ robot programming environment. The algorithm for visual tracking of the conveyor belt for "on-the-fly" object grasping is partitioned in two stages: (i) visual planning of the instantaneous destination of the robot, (ii) dynamic re-planning of the robot's destination while tracking the object moving on the conveyor belt. The control method uses in addition the concept of Conveyor Belt Window — CBW. The paper discusses in detail the motion control algorithm for visually tracking the conveyor belt on which objects are detected, recognised and located by the vision part of the system. Experiments are finally reported in what concerns the statistics of object locating errors and motion planning errors function of the size of the objects and of the belt speed. These tests have been carried out on a 4-d.o.f. SCARA robot with artificial vision and the AVI AdeptVision software extension of the V+ high-level, structured programming environment.
Starting Page	1
Ending Page	6
File Size	133163
Page Count	6
File Format	PDF
ISBN	9781424467242
e-ISBN	9781424467259
DOI	10.1109/AQTR.2010.5520880
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-05-28
Publisher Place	Romania
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Motion planning Machine vision Robot vision systems Process control Belts Cameras Control systems Partitioning algorithms Motion control Robot programming
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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