Touch sensing object recognition for robotic applications
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Sensory research for industrial robotic applications is an emerging science. The underlying motive for this research is to provide a robot with the ability to interact with its environment. This study concentrates on the development of a versatile touch sensory system for recognizing and retrieving various objects from a conveyor. The development of a linear array of touch sensors and the corresponding interface requirements for implementation on a microcomputer are detailed. After discussing image collection and analysis techniques, software concepts for analyzing two-dimensional images using classical moment methods are presented. The performance of the system is then evaluated using statistical comparisons. Although the operational characteristics of the sensory system are less than optimum due to hardware anomalies, the overall performance of the touch sensory system demonstrates a viable solution for industrial robot sensory applications.
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This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivs 3.0 License.