Figure 6.

The decision process used by the algorithm. At the beginning, the software searches for an edge by moving using the robotic arm. When the sensor starts to detect a possible edge, the shape found event is triggered in order to start the contour-following task. Once an edge is found, the gradient is determined and used to test for a ‘good feature’. If this is satisfied the position and details are recorded and the next movement calculated. When the starting point is again reached, a stop command is triggered.