Robot control system with integrated vision/force feedback for automated sorting system

摘要

Sorting systems are required in many places with different types of applications such as in manufacturing industry, libraries, factories, warehouses, pharmacies, supermarkets etc. In this work it is suggested that an automated sorting system shelves and rearranges imprecisely placed objects using integrated vision/force robot control. The system will sort the objects not only depending on their shapes and forms but also using their alphabeticumeric codes with the help of SIFT features. Vision system will find out the form, position, orientation and the alphabeticumeric code of the object and it will define the most appropriated control mode for different cases of grasping. By combining vision and force feedback the grasping and transporting tasks of the objects will be performed. This research will focus on the control system and vision algorithms for library automation and book sorting as real application of this work.