### Project Title:

Development Of A Three Dimensional Vision Algorithm For Direct Transformation

05.01-0520
Project Title:Development Of A Three Dimensional Vision Algorithm For Direct Transformation
From Image Space To Robot Joint Space
Company:Advanced Control Technologies, Inc.
Gallatin, TN 37060
Principal Investigator:Waggener, Mary S.

### Abstract:

A direct transformation from image coordinates to robot joint coordinates will be
developed to serve as the basis for a binary vision system for six degree of freedom
robot control. A system identification algorithm will enaable the system to be used
as a turn-key system with any robot which accepts joint coordinate input. The direct
transformation from image space to robot joint space will be accomplished by developing
a nonlinear model of the robot joint coordinates as functions of the corresponding
image data from two image sensors.
Algorithms currently used in research and commercial applications transform image
data to object space. The robots kinematic equations must them be solved to get
robot joint coordinates. The direct transformation from image space to robot joint
space will eliminate this step, resulting in reduced computation time. The system
idencification algorithm allows true turn-key operation which eliminates expensive
custom engineering and programming for an installation.