2000 Volume 51 Issue 5 Pages 416-425
This paper proposes an image processing method for arraying and inspecting flexible belt-shaped objects. First, a method using a labeling procedure is presented to distinct folding patterns of belt-shaped objects. Next, a grasping position on a object is determined considering the width of the robot hand and folding pattern of the object. The grasping position is used by the robot hand, which moves so as clearly to untangle the object. In addition, the shape of the object is adjusted so that inspection points of the object can be roughly overlapped to the same points of its CAD image. Then, an inspection procedure is presented to detect identical defects of the object by comparing the contour lines of the object and its CAD image. Finally, validity of the proposed method is evaluated through an actual application for arraying and inspecting a belt-shaped rubber object.
