Abstract
This study is concerned with simple eyes as one of the sensors for giving more adaptability to industrial robots. The purpose of this study is to discover the object by searching and to measure automatically its two-dimensional or spatial position before the robot goes into a handling operation. And, as the first step, the purpose of this paper is to construct the two-dimensional position detector and the spatial position measuring equipment.
Two methods are proposed in this paper, a method for detecting the two-dimensional position of an object using an ITV camera and, as its application, a method for measuring the spatial position of the object applying the parallax between a pair of ITV cameras. The characteristics of the equipment based on these methods are shown, and by a comparison between the theory and the experiments, the propriety of these methods is confirmed.
In consequence the two-dimensional position detector and the spatial position measuring equipment based on the methods proposed by the authors proved to be usable as the simple eyes of industrial robots by putting certain restrictions on the robots' environment.
