Abstract: A video data acquisition system includes a vision system having a video camera for taking pictures of articles. The video acquisition system is adapted to acquire, digitize and select signals within a predetermined amplitude range as representations of pixels of the images of the pictures arranged in rows, columns and diagonal lines, and further adapted to provide a total count of pixels in rows, columns and diagonal lines. A hand-held application module for directing the operation of the vision system has teaching capabilities in conjunction with the system for causing the video camera to take repeated pictures of an article within its field of view in various positions to provide identity of the article. The video acquisition system includes means for computing the area and perimeter of the article and for computing the maximum moments and minimum moments, thereby providing an identification of the article and its orientation.

Abstract: A hand-held application module directs the operation of a programmable manipulator controlled by digital computing means. The module identifies points to which the end effector of the programmable manipulator shall move, programs the programmable manipulator to direct the precise operations relative to the points, selectively runs to one or more points to debug the entered program and retrieves statements for display in its alpha-numeric display facility. Program statements and parameters may be deleted from the program, and program statements and parameters may be added to the program. Entry of commands is made through a keyboard and data is displayed on an alpha-numeric display.