Abstract
M.Ing.
A machine vision system must, by definition, be intelligent, adaptable and reliable to satisfY the
objectives of a system that is highly interactive with its dynamic environment and therefore prone to
outside error factors.
A machine vision system is described that utilizes a 2D captured web cam image for the purpose of
intelligent object recognition, gripping and handling. The system is designed to be generic in its
application and adaptable to various gripper configurations and handling configurations. This is
achieved by using highly adaptable and intelligent recognition algorithms the gathers as much
information as possible from a 2D colour web cam image. Numerous error-checking abilities are also
built into the system to account for possible anomalies in the working environment.
The entire system is designed around four separate but tightly integrated systems, namely the
Recognition, Gripping and Handling structures and the Component Database which acts as the
backbone of the system.
The Recognition system provides all the input data that is then used for the Gripping and Handling
systems. This integrated system functions as a single unit but a hierarchical structure has been used
so that each of the systems can function as a stand-alone unit. The recognition system is generic in its
ability to provide information such as recognized object identification, position and other orientation
information that could be used by another handling system or gripper configuration.
The Gripping system is based on a single custom designed gripper that provides basic gripping
functionality. It is powered by a single motor and is highly functional with respect to the large range
of object sizes that it can grip. The Handling Sub-system controls gripper positioning and motion.
The Handling System incorporates control of the robot and the execution of both predetermined and
online adaptable handling algorithms based on component data. It receives data from the Component
database. The database allows the transparent ability to add and remove objects for recognition as
well as other basic abilities.
Experimental verification of the system is performed using a fully integrated and automated program
and hardware control system developed for this purpose. The integration of the proposed system into
a flexible and reconfigurable manufacturing system is explained.