Apparatus for recognizing and approaching a three-dimensional ta

Details Apparatus for recognizing and approaching a three-dimensional ta Apparatus for recognizing and approaching a three-dimensional ta

1988-12-05

1990-07-10

MacDonald, Allen

Boots, shoes, and leggings

31856816, 901 47, B25J 900

Patent

active

049411063

ABSTRACT:
An apparatus for recognizing and approaching a target in a space not directly visible within the maximum range of an industrial robot with camera on the end of a boom. The camera is used to observe an environment of the space including the target and to send images to a monitor at a remote control station. The apparatus includes an industrial robot with a plurality of axes having degrees of freedom and a camera with a lens having an optical axis which can be selectively rotated 360 degrees around a first axis and selectively pivoted 180 degrees around a second axis that is perpendicular to the first axis. The rotating and pivoting motions are used to move the camera and the optical axis until the target can be seen in the monitor. A system is used to control various movements of the robot while sensing and maintaining the camera position and the target direction during movement of the end of the boom from the robot to the target.

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