A Real Time Vision System as an AID in Learning Tasks in Robotics

Abstract This paper presents how vision can aid a learning system during the training phase. The learning system has no initial knowledge about the process, the task is to manipulate a planar object by tilting a tray and place it in a desired position and orientation. The vision system will be used as an accurate instrument for measuring parameters of the process as well as it will have real time capabilities for recording data that occur at much more frequency that can be stored with a commercial board. This work was carried out at the Manipulation Laboratory in Carnegie Mellon University during the summer of 1991.