| Abstract: | This article presents a microcomputer-based robot dynamic sensing system by the use of the linear scanning approach for object recognition and manipulation. In this research, a 512 × 1 solid-state photodiode linear array sensor is used for dynamic scanning the object to be identified. An experimental prototype is built, which consists of a fully opened parallel jaw gripper and a 360d? turnable pedestal located between the jaws of the gripper. The sensor with the lens is mounted near the horizontal edge of one side of the gripper, and the illumination source is located directly on the other finger. The object to be identified is placed on the turnable pedestal. The simulated robot gripper can move vertically and the object will be scanned providing a two-dimensional image of the object. The object can be scanned in different views by adjusting the angle of the turnable pedestal. All the binary images which result are further analyzed for recognition and manipulation purposes. A Compaq microcomputer based on the Intel 8088 microprocessor is used as the host. A special interface between scanned video output, CPU, and video RAM memory is built and successfully tested. |
