1990 Volume 52 Issue 3 Pages 53-59
The fruit harvesting robot was controlled by visual feedback to raise its operation precision and efficiency. The visual device which consists of a CCD color video camera, two strobes and a supersonic wave distance sensor, was attached to the end-effector of the robot manipulator. And new image processing method processing of combined binary and gray images by light emittance was applied with this device.
Image processing system was developed. This system consists of a personal computer, the visual device, an image processor, the control circuit of the visual device and a software. The indoor experiments of visual feedback control were successfully conducted with this system. The results obtained suggested that the control method and the image processing method were effective.
