Hostname: page-component-cd9895bd7-jkksz Total loading time: 0 Render date: 2024-12-25T05:24:12.888Z Has data issue: false hasContentIssue false
  • English
  • Français

An Intelligent Part Sorting Robot in Unstructured Manufacturing Environments

Published online by Cambridge University Press:  09 March 2009

M. Mehdian  and
H. Rahnejat
M. Mehdian
Affiliation:
Robotics and Machine Intelligence Group, School of Engineering, Thames Polytechnic, wellington Street, Woolwich, London SE18 6PF (UK).
H. Rahnejat
Affiliation:
On-line Surveillance, Monitoring and Diagnostics Unit, School of Mechanical, Aeronautical and Production Engineering, Kingston Polytechnic, Canbury Park Road, Kingston, Surrey (UK).
Get access Rights & Permissions [Opens in a new window]

Summary

This paper outlines a method for control of robotic systems for part sorting operations in unstructured manufacturing environments. The sorting is accomplished simply and without any change in the kinematic structure of the robot or any need for inclusion of complicated external sensory systems. The method developed is based on the inherent relationship between the mass of parts to be carried and the maximum velocity of the tool centre point attainable along certain specified paths.

The actuators' maximum velocity is detected and is communicated to a devised expert system. The expert system uses this maximum velocity as a part of its matching procedure for the purpose of part sorting.

Keywords

Intelligent robotPart sortingUnstructured environmentsExpert systemMaximum velocity
Type
Article
Information
Robotica , Volume 10 , Issue 2 , March 1992 , pp. 155 - 164
Copyright
Copyright © Cambridge University Press 1992

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Rahnejat, H., “Simulating for resource optimization in robot-assisted automatic assembly” Proc. Instn. Mech. Engrs. 200, No. B/B3, 181–186 (08, 1986).CrossRefGoogle Scholar
2.Rahnejat, H., “Simulation aids design for flexible automation” Int. J. AMT 1(2), 91–108 (02, 1986).Google Scholar
3.Scheid, W.M., “Latest developments in computer controlled order picking plants” Proc. 7th Int. Conf. on Automation in Warehousing259–265 (10 1986).Google Scholar
4.Monara, R., Giuffre, O. and Cavagnaro, F., “A generalized approach to the problem of FMs on-line management” Proc. 3rd Int. Conf. on FMs413–424 (1983).Google Scholar
5.Stern, H.J., “Parts location and optimal picking rules for a carousel conveyor automatic storage and retrieval system” Proc. 7th Int. Conf. on Automation in Warehousing185–193 (10, 1986).Google Scholar
6.Mehdian, M., Hall, A.R. and Rahnejat, H., “Object Recognition with tactile sensing using an intelligent local feature focus methodology” Int. J. Advanced Manufacturing Technology 5, 165–174 (1990).CrossRefGoogle Scholar
7.Oshima, M. and Shirai, Y., “Object recognition using three dimensional information” IEEE Trans, Pattern Recognition Annals of Machine Intelligence PAMI-5, No. 4, 353–361 (07, 1983).Google ScholarPubMed
8.Foroughi, F., Rahnejat, H. and Bera, H., “Tactile sensors for robot handling” Proc. Isst. Mech. Eng. Part B (GB) 201, No. B/B1, 51–58 (1987).CrossRefGoogle Scholar
9.Mehdian, M. and Rahejat, H., “A tactile sensor with automatic learning capability for industrial part inspection” Int. J. AMT 2(4), 11–26 (11, 1987).Google Scholar
10.Warnecke, H.J., Schraft, R.D., Abele, E. and Spingler, J., “Flexible assembly system for unmanned factory” 4th Int. Conf. on Assembly Automation,Tokyo,Oct., 1983,Programmable Assembly (IPS Publications, Bedford, 1984) pp. 45–52.Google Scholar
11.Butcher, A. and Fehrenbach, P., “A computer controlled reconfigurable gripper” Proc. 15th CIRP, Int. Sem. on Mannf. Systems Amherst, USA, 06, 1983), Programmable Assembly (IPS Publications, Bedford, 1984) pp. 257–266.Google Scholar
12.Mitchell, I., Whitehead, D. and Pugh, A., “A multiprocessor system for sensory robotic assembly” Sensor Review 94–96 (04, 1983).CrossRefGoogle Scholar
13.Heginbotham, W.B. (Ed.), Robot Grippers (IFS Publications, Bedford, 1986).Google Scholar
14.Boathroyd, G. and Dewhurst, P., “Part presentation and feeding for robot assembly” Proc. Conf. on Gen. Assembly of Int. Institute for Prod. Eng. Res.377–381, Brugge, Belgium (1982).CrossRefGoogle Scholar
15.Schroder, M. and Bosch, R., “Meeting a variety of future needs with flexible assembly” Wt. Z. Ind. Fertig 71, 1981, Programmable Assembly (IPS Publications, Bedford, 1984) pp. 11–21.Google Scholar
16.Paul, R.P., Robot manipulators: Mathematics, Programming and Control (MIT Press, Boston, MASS., 1982).Google Scholar
17.Luh, J., Walker, M. and Paul, R.P., “Resolved acceleration control of mechanical manipulators” IEEE Trans, on Automatic Contr. No. 3, 468–474 (06, 1980).Google Scholar
18.Finn, A., Fundamental University Physics (Addison Wesley Publishing Co., Wokingham, Berks., 1974).Google Scholar
19.Mehdian, M., “Robot design and control” MSc Thesis, South Bank Polytechnic (CNAA) (09, 1986).Google Scholar
20.Lin, Ching-Fang, “Advanced controller design for robot arms” IEEE Trans on Automatic Control AC-29, No. 4, 350–353 (1984).Google Scholar