A method of three-dimensional handling of an object by a robot using a tool and one camera mounted on the robot is disclosed in which at least six target features which are normal features of the object are selected on the object.

Method and apparatus for single camera 3d vision guided robotics

Methods and apparatus are provided for monitoring resistance spot welding process conditions in real time by using welding data in an energy balance model in integral form to estimate the mean weld temperature and to predict process conditions such as occurrence of splash, and weld diameter. Using predicted welding process conditions, welding parameters are modified in real time to prevent splash and produce sound welds.

Spot welding system and method for sensing welding conditions in real time

A system and method for identifying objects using a machine-vision based system are disclosed. Briefly described, one embodiment is a method that captures a first image of at least one object with an image capture device, processes the first captured image to find an object region based on a reference two-dimensional model and determines a three-dimensional pose estimation based on a reference three-dimensional model that corresponds to the reference two-dimensional model and a runtime three-dimensional representation of the object region where a point-to-point relationship between the reference three-dimensional models of the object and the runtime three-dimensional representation of the object region is not necessarily previously known. Thus, two-dimensional information or data is used to segment an image and three-dimensional information or data used to perform three-dimensional pose estimation on a segment of the image.

System and method of three-dimensional pose estimation

A method of three-dimensional object location and guidance to allow robotic manipulation of an object with variable position and orientation using a sensor array which is a collection of one or more sensors capable of forming a single image.

Method and apparatus for single image 3D vision guided robotics

According to the invention, the fiber scope is inserted into the highly rigid tube and this tube is clamped as a rigid member by the robot wrist (or fiber scope supporting device) and camera supporting device, thereby allowing the camera supporting device and tube to move intergrally with the robot wrist. Therefore, no twisting of the fiber scope occurs within the operating range of the robot wrist axis. Also, even at any position in the operating range of the robot wrist axis as well, the angle of bend of the fiber scope can be held to a constant value below the allowable bending angly of the fiber scope. Consequently, it has been possible to realize an imaging device in which interference between the object to be worked and the optical system is remarkably improved.

Apparatus for supporting an imaging device

A multivariable process monitor and method of monitoring a resistance spot welding process to yield instantaneous information on weld quality during the weld cycle. Sensors on the machine measure welding input variables and workpiece response variables and provide signals to a microcomputer system. A simplified analytical model of the spot welding process is incorporated in the microcomputer and is the reference for the weld quality logic that accepts or rejects the weld. Faulty welds are diagnosed and the reason displayed.

Resistance spot welder process monitor

The surface of the molten weld pool and surrounding workpiece area are floodlighted during an arc welding operation by a narrowband light source such as a laser in order to highlight the pool boundary and yield an image which is easily computer processed to give the pool perimeter. An arc welding torch has built-in optical systems, one to route laser energy via a coherent optical fiber bundle to exit optics on the torch to project two spots of light onto the trailing side edges of the pool, another to image the weld region which is relayed to a remote camera. The difference between reflectance values and direction on the pool and workpiece surfaces accounts for the enhanced image.

Method of enhancing weld pool boundary definition

A self-cleaning water closet wherein either the bowl or a specially provided cabinet-type enclosure is pivotally movable between a first non-cleaning position and a second cleaning position. When in the cleaning position, the cabinet-type enclosure sealably encloses at least a portion of the bowl before washing begins.

Water closet having a bowl and a wash means

A hydrogen sensor unit with a palladium alloy tube open at both ends that changes length reversibly dependent on hydrogen concentration has an improved mounting for substantially unconstrained volumetric change in all directions, so as to be usable with a large range of hydrogen concentrations. Both the inner and outer surfaces of the tube are contacted by the ambient atmosphere. Associated signal processing equipment continuously derives the percent hydrogen by volume. Applications include monitoring a nuclear reactor and a transformer tank for malfunctions.

Stanley J. Godwin

Papers

Resistance spot welder process monitor

Method of enhancing weld pool boundary definition

Water closet having a bowl and a wash means

Hydrogen detector system