Research Repository

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

Pham, DT and Hu, Huosheng and Pote, J (1990) 'A transputer-based system for locating parts and controlling an industrial robot.' Robotica, 8 (2). 97 - 103. ISSN 0263-5747

[img]
Preview
Text
Robotica-V8-1990-97-103.pdf - Accepted Version

Download (3MB) | Preview

Abstract

A parallel-processing system for locating parts and controlling an industrial robot is proposed. The system employs Transputers and <jats:italic>Occam</jats:italic> 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.

Item Type: Article
Divisions: Faculty of Science and Health > Computer Science and Electronic Engineering, School of
Depositing User: Elements
Date Deposited: 06 Jul 2021 12:10
Last Modified: 06 Jul 2021 13:15
URI: http://repository.essex.ac.uk/id/eprint/27850

Actions (login required)

View Item View Item