• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.11a
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• pp.733-737
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• 1996

This paper presents a method to measure tile position and orientation of a prismatic polyhedral object (of unknown width, length, height, and number of vertices) using machine vision. The width, length, and origin of workplace where an object is lying are defined as Preliminary operation. The edges of an object are detected from captured image using least sum of square error. The information of an object is determined from the geometric relationships between edges. As an user interface, a versatile image processing program is developed in several modules, and renders a very useful 3D measurement at a limited constraints when adopted in automation of production process. The flexibility of camera position from the algorithm developrf can be used for automated pick and place operations and feeding workpiece u: ;ing assembly robot.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.40 no.10
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• pp.843-849
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• 2016

It has been shown that the adaptive grasp feature can be implemented by underactuated robotic hands with a minimal number of actuators. Following this approach, a new design of prosthetic hand is presented. A method is proposed for evaluating grasp performance using cylinders, spheres, and square bars of various sizes. The effects of the major design parameters were investigated experimentally and an improved design is proposed.