A transputer-based system for locating parts and controlling an industrial robot
- 1 April 1990
- journal article
- research article
- Published by Cambridge University Press (CUP) in Robotica
- Vol. 8 (2), 97-103
- https://doi.org/10.1017/s0263574700007657
Abstract
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.This publication has 6 references indexed in Scilit:
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