REN-CHYUAN LUOMullen R.EJr.2023-06-092023-06-091988https://www.scopus.com/inward/record.uri?eid=2-s2.0-85069195393&doi=10.1109%2fIECON.1988.662367&partnerID=40&md5=8de9336b628a2abf4510b019e9ac9aaahttps://scholars.lib.ntu.edu.tw/handle/123456789/632375A flexible robotic system with intelligent sensory capability which can be used in an industrial environment to autonomously perform sophisticated manufacturing tasks that are typically done by manual labor is presented. This system can, in many instances, fulfill the same function as the human worker at a faster rate, with higher accuracy/repeatability, and at a reduced cost. The overall system is comprised of two major subsystems: the use of computer vision for object tracking and object identification/manipulation. These subsystems can be described as follows: an optimal tracking subsystem that can visually track and intercept an arbitrary object which is travelling at an unknown velocity on a moving conveyor and the development of a robust visual bar code scanning scheme which can accommodate arbitrary bar code orientations. Thus, the system will provide for the realization of autonomous identification and inspection of arbitrary objects travelling on a conveyor. A Unimate PUMA 560 robot with integrated sensors and a MicroVax II host computer have been employed to evaluate the performance of the presented techniques. The overall system configuration, its basic principles, and a demonstration of the initial results are discussed. © 1988 IEEE.Real time adaptive robotic tracking; Visual bar code scanningAgricultural robots; Bar codes; Conveyors; Industrial electronics; Intelligent robots; Manufacture; Object tracking; Optimal systems; Robotics; Bar-code scanning; Flexible manufacturing; Industrial environments; Manufacturing tasks; Object identification; Real time; System configurations; Visually guided robotics; Computer visionconference paper10.1109/IECON.1988.6623672-s2.0-85069195393