A structured light method for sensing alignment during automated truss assembly

摘要

Visual processing is an important link in the control of an intelligent robotic system. The principle and construction of a structured light pattern for aligning two cylindrical beams axially is described. A TV camera is used to process the light and shadow information to obtain equations of the axes of the cylindrical beams using triangulation. The amount and direction in which the cylindrical beams are to be moved to align them is then computed. The feedback obtained from this system is proposed to be used in two ways: (1) teleoperated robotic mode; and (2) fully automatic mode.