Method and apparatus for determining the position of a body

Details Method and apparatus for determining the position of a body Method and apparatus for determining the position of a body

G - Physics

05

B

354/25, 342/3, 3

G05B 19/02 (2006.01) B25J 9/00 (2006.01) G01B 7/00 (2006.01) G01B 7/28 (2006.01) G01B 7/32 (2006.01) G06K 9/50 (2006.01) G06K 9/62 (2006.01) G06T 1/00 (2006.01) G06T 7/00 (2006.01)

Patent

CA 1037593

ABSTRACT OF THE DISCLOSURE A system for generating electrical signals relating to the position and orientation of a part supported on a ref- erence surface for use by manipulating devices includes an image converter tube which receives the light information from a test part and the surface. The scanned output of the tube is digitized and provided to a digital unit which isolates data representing the outline of the part in the direction of viewing. The system then calculates the centroid of the out- lined area and a signature radius identifying the orientation of distinctive boundary transitions of the part relative to the centroid. Subsequently, similar parts supported on the reference surface are scanned by the video system and the dig- itized outputs are analyzed to calculate the position of the centroid of these parts relative to a reference location and the angular displacements of the parts relative to the rota- tional orientation of the test part.

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