Wait
 PPV
 ViViV
 ViViP Point "" I Approach I
 o P l II 1
 Search 0 =
 U
 500- I


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 -looo v I I I -
 "00 -500-
 V-U I I I- -60

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 '^ 25 ticks


 450
 20

 -50 -

 -100 I
 140 -

 120

 100

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 60

 40

 20
 2 I -I --I
 0 60 120 180 240
 Time (1/60 sec)

Figure 9.28. Pick cycle aborted because of a collision during the fruit approach routine.


performance of the vision control systems was not as easily envisioned as the performance of the

other controllers. The performance of the vision controller for joint 0 was illustrated in the plot

of the Vertical Location of the Fruit Centroid in Figure 9.25 while the performance of the vision