A TRANSPUTER-BASED SYSTEM FOR LOCATING PARTS AND CONTROLLING AN INDUSTRIAL ROBOT

被引：1
作者：
PHAM, DT
HU, HS
POTE, J
机构：
[1] Intelligent Systems Research Group, School of Electrical, Electronic and Systems Engineering, University of Wales (Cardiff), Cardiff
[2] Robotics Research Group, Department of Engineering Science, University of Oxford, Oxford
[3] Department of Electronic and Electrical Engineering, University of Birmingham, Birmingham
来源：
ROBOTICA | 1990年 / 8卷
关键词：
D O I：
10.1017/S0263574700007657
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
A parallel-processing system for locating parts and controlling an industrial robot is proposed. The system employs Transputers and Occam to achieve parallelism. In conjunction with a novel vibratory sensor, the system enables a robot to determine the exact location of parts which have been picked up from a semi-ordered work place. A new algorithm for obtaining the coordinates of the parts using the sensed vibration and deflection signals is described. The algorithm dispenses with the lengthy and complex equation-solving procedures previously required. Instead, it only involves looking up a data table and performing simple two-dimensional interpolation calculations. The design of the algorithm to ensure efficient parallel operation is described. Experimental results showing the successful implementation of the algorithm on the proposed system are presented. © 1990, Cambridge University Press. All rights reserved.
引用
收藏
页码：97 / 103
页数：7
相关论文
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