Ultra High-speed Manipulation Using 1ms Vision chip with Massively Parallel Architecture

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For past years we had developed several types of a massively parallel vision chip system and the 1ms sensory-motor fusion system. In the project, our main aim is to extend these our results and to systemize an ultra high-speed manipulation technology based on a new principle using high-speed visual feedback control. As a result an integrated LSI active vision system and a high-speed hand-arm system have been developed. The detailed results are written as following.1.Development of an 1ms active vision system basedn on 1ms vision chip architectureThe 2-axis active vision system with high-speed vision chip has been developed. Using the developed system, an active vision control method is proposed, in which 3D shape recognition and target tracking is achieved in parallel.2.Development of a high-speed hand-arm system with a 1ms vision systemIn order to control a robot hand-arm and an active vision, a realtime DSP processing system has been developed. In the developed system has several processors, and parallel control processing is executed. As a result many numbers of sensor information can be processed in 1ms. A high-speed hand-arm system is controlled using 1ms vision system based on parallel DSP processing.3.Development of an image processing using massively parallel architecture and high-speed processingParallel image processing algorithm is developed in order for high-speed visual servo control. Realtime recognition of a 3D position and a 3D shape using 2-sets of active vision systems is achieved.4.High-speed visual feedback theory based on analysis of dynamics of an environmentA high-speed visual feedback control theory is proposed, in which high-speed manipulation is achieved by observing the dynamics of a target with high-speed vision in realtime. Also a dynamic control theory of a robot using a high-speed vision for a touching task is proposed.