An intelligent robot vision system for research applications

This paper presents a Lisp-based robot vision system designed for research. It combines a Puma 560 robot arm, the computing power of a VAX 11/780 and a Grinnell Systems 275, the facility for artificial intelligence through Lisp, and sensing capability through a wrist-mounted camera. A description of the robot vision system includes system and software structure, the Lisp primitives for robot control, two vision algorithms, and a frame-based motion planner written in Lisp.