
Chapter
4
Vision
With the development of the arm control system in the last
chapter, our robot is now capable of finding and grasping cans
that lie anywhere within the arm's workspace and that are
roughly aligned with the plane of
the
arm. But what about cans
that remain beyond the range of the local sensors? This is the
purpose of the vision system: to locate suitable objects from a
distance. With this new capability, the robot's collection zone
can be expanded to include objects that are within 30 degrees of
the robot's direction of travel and up to 6 feet away.
In our system we do not adhere to the paradigm of model -
based matching followe ...