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integrated vision

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Robotic arm self-taught path planning using transportation model heuristics
Earnest W. Fant, Sylvia L. Tran
Journal:

Robotica / Volume 12 / Issue 1 / January 1994

Published online by Cambridge University Press:

09 March 2009, pp. 17-21
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The objective of this experimental research was to determine whether or not an integrated vision and robotic arm system, using grey level detection and a transportation model heuristic, could plan and execute its own point-to-point navigation. The heuristic is the shortest-route algorithm which deals with finding the smallest possible distance to visit multiple locations only once. The only point taught by a human operator was a starting position and all other points within the workspace, to be visited by the robotic arm to perform tasks such as screw-fastening, adhesive application and detailed inspection of assemblies, were learned by the system.