Abstract
Bin picking by a robot in real time requires the performance of a series of tasks that are beyond the capabilities of commercially available state-of-the-art robotic systems. In this paper, a laser-ranging sensor for real-time robot control is described. This sensor is incorporated into a robot system that has been applied to the bin-picking or random-parts problem. This system contains new technological components that have been developed recently at the Environmental Research Institute of Michigan (ERIM). These components (the 3-D imaging scanner and a recirculating cellular-array pipeline processor) make generalized real-time robot vision a practical and viable technology. This paper describes these components and their implementation in a typical real-time robot vision system application.
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