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A virtual end-effector pointing system in point-and-direct robotics for inspection of surface flaws using a neural network based skeleton transform

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2 Author(s)
Wang, C. ; Dept. of Ind. & Manage. Syst. Eng., Pennsylvania State Univ., PA, USA ; Cannon, D.J.

The development of a system for interweaving virtual reality tools with live video scenes to direct robots using video graphic gestures is described. This virtual point-and-direct (V-PAD) concept is applied to workpiece inspection. a normalized coding method is employed for surface flaw identification using a neural network based skeleton transform. The method is scale, location, and orientation invariant so that robotic placement of workpieces for inspection requires no exact precision from special fixturing

Published in:

Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on

Date of Conference:

2-6 May 1993