REAL TIME PATTERN RECOGNITION AND ITS APPLICATION TO ROBOT CONTROL.

A robot-arm system which is able to manipulate a moving object on a belt conveyor at a various speed is built. This system consists of two parts. The first part is related to recognizing patterns in real time. In this part, a method of constructing a discriminant tree is proposed, where three newly defined measures called effectiveness, importance and applicability, are introduced. The robot-arm-system is able to recognize the shape and the size of moving patterns on a belt conveyor based on the discriminant-tree. The second part is to replace (grasp and put) a moving object based on fuzzy-inference rules with the aid of image processing technique.