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Cell programming for multi-sensor-guided robot systems

: Lindner, H.; Schraft, R.D.

Japan Industrial Robot Association -JIRA-, Tokyo:
20th International Symposium on Industrial Robots '89. Proceedings
Tokyo, 1989
International Symposium on Industrial Robots <20, 1989, Tokyo>
Conference Paper
Fraunhofer IPA ()
Industrieroboter; Roboter; sensor

The paper describes a project which aims at the problem of parts presentation and feeding in such an environment, where the cost of specially-engineered presentation or feeding equipment cannot be justified because of decreasing batch size. The specific goal is to demonstrate the use and the programmibility of a robot system guided by a combination of advanced sensors to acquire randomly-presented parts and place them in a known position and orientation. The technical state of the project is an industrial robot system which uses visual sensing to identify and locate parts for grasping even if they are partly overlapping and it uses a specially designed gripper with fingermounted tactile image sensors to ensure that parts thus grasped may then be orientated and placed correctly. The complete robot with its various subsystems is supervised by a cell controller which is able to communicate over a local area network with a factory controller.