Determination of rotation angle based on invariant moment and MADALINE for HGA grasping

摘要

To proposed a new adaptive intelligent system for a robot work cell that can visually track and intercept aninvariant stationary HGA feature undergoing arbitrary orientation anywhere along its predicted trajectorywithin the robot’s workspace is presented in this paper. A combination of the seven invariant momenttechnique, image feature technique and the MADALINE network are used for identifying the stationary HGAat any rotation angle without overlapping and generating the predicted robot trajectory respectively. Aninvariant moment that has system for a scale, translation and orientation are calculated for each significantregion in the input images. Inertial ellipse is determining for angle rotation that compare against to theaccepted orientation that required. The result shown that, the relationship between the visual feedback imagedata and the control command for changing the axis motion shows deviation of robot placing less than 2% bythe MADALINE network for intercepting stationary HGA at any rotation angle. The location and imagefeatures of these HGAs need not be preprogrammed, marked and known before, and any change in a task ispossible without changing the robot program. Finally, this novel method can improve the hard disk drive(HDD) assembly process productivity.