The Synthesis of Logical Sensor Specifications

Abstract

A coherent automated manufacturing system needs to include CAD/CAM, computer vision, and object manipulation. Currently, most systems which support CAD/CAM do not provide for vision or manipulation and similarly, vision and manipulation systems incorporate no explicit relation to CAD/CAM models. CAD/CAM systems have emerged which allow the designer to conceive and model an object and automatically manufacture the object to the prescribed specifications. If recognition or manipulation is to be performed, existing vision systems rely on models generated in an ad hoc manner for the vision or recognition process. Although both Vision and CAD/CAM systems rely on models of the objects involved, different modeling schemes are used in each case. A more unified system will allow vision models to be generated from the CAD database. The model generation should be guided by the class of objects being constructed, the constraints of the vision algorithms used and the constraints imposed by the robotic workcell evironment (fixtures, sensors, manipulators and effectors). We propose a framework in which objects are designed using an existing CAGD system and logical sensor specifications are automatically synthesized and used for visual recognition and manipulation.