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A transputer-based system for locating parts and controlling an industrial robot

Published online by Cambridge University Press:  17 August 2017

D. T. Pham ,
Huosheng Hu  and
J. Pote
D. T. Pham
Affiliation:
Intelligent Systems Research Group, School of Electrical, Electronic and Systems Engineering, University of Wales(Cardiff), Cardiff, CF1 3YH (U.K.)
Huosheng Hu
Affiliation:
Robotics Research Group, Department of Engineering Science, University of Oxford, Oxford, OX1 3PJ (U.K.)
J. Pote
Affiliation:
Department of Electronic and Electrical Engineering, University of Birmingham, Birmingham, B15 2TT (U.K.)
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Summary

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.

Keywords

Parallel processingTransputersOccamVibratory sensorsRobotsParts feedingBin pickingStack picking
Type
Research Article
Information
Robotica , Volume 8 , Issue 2 , April 1990 , pp. 97 - 103
Copyright
Copyright © Cambridge University Press 1990

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