SYSTEM OF ARTIFICIAL VISION FOR THE ACTUATION OF ROBOTS

This paper describes a vision system in which the input is an image of the robot's work area and the output is a decision that can be used t o guide the actuator in handling an object. Position and orientation o f the object in the work area are random. Illumination conditions are controlled and favorable; two light sources with identical spectral ch aracteristics are positioned to avoid shadows and highlights in the wo rk area and to ensure a uniform mean light intensity across the quadra nts into which the image can be divided.