Hardware & Software System (1998)
Haredware
-
The robot hand is mounted on the 7-dof arm. The robot hand with three
fingers manufactured is controlled by VxWorks. Each finger has three
joints and 6-axes force/torque sensor.
Two sets of trinocular stereo color cameras are connected to the color
tracking vision boards (CTRV). and the real time range finder are used for
the vision system. CTRV is used for color-based labeling and stereo mathcing.
The real time range finder can generate 24x24
depth image in video rate. CTRV and a range finder were manufactured
by Fujitsu co. and Sony co., respectively.
Software
-
Top level programs of this system are written by using VisualWorks/Smalltalk-80(VW)
on Host(Sun Ultral-I). VW can call "C" functions as primitives, which control CTRV.
VW can communication processes on VxWorks and PC, on which programs are written
by using "C", via socket protocols.
Photos&Movies of Cooperation
Publications