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Dynamic workcell for industrial robots.
~
Clemson University.
Dynamic workcell for industrial robots.
紀錄類型:
書目-電子資源 : 單行本
正題名/作者:
Dynamic workcell for industrial robots./
作者:
Liu, Yanfei.
面頁冊數:
67 p.
附註:
Source: Dissertation Abstracts International, Volume: 65-09, Section: B, page: 4742.
Contained By:
Dissertation Abstracts International65-09B.
標題:
Engineering, Electronics and Electrical. -
電子資源:
Download fulltext (下載全文)
ISBN:
0496066005
Dynamic workcell for industrial robots.
Liu, Yanfei.
Dynamic workcell for industrial robots.
- 67 p.
Source: Dissertation Abstracts International, Volume: 65-09, Section: B, page: 4742.
Thesis (Ph.D.)--Clemson University, 2004.
In this dissertation, we present a novel approach to workcell design for enhanced performance of industrial manipulators, in which the workcell features an integrated camera network. The camera network performs real-time dynamic sensing of the entire workcell. The system is designed to make use of "off the shelf" components, and to integrate with an existing industrial robot controller. Based on this experimental platform, we conducted research in the following three aspects.
ISBN: 0496066005Subjects--Topical Terms:
170927
Engineering, Electronics and Electrical.
Dynamic workcell for industrial robots.
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Source: Dissertation Abstracts International, Volume: 65-09, Section: B, page: 4742.
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In this dissertation, we present a novel approach to workcell design for enhanced performance of industrial manipulators, in which the workcell features an integrated camera network. The camera network performs real-time dynamic sensing of the entire workcell. The system is designed to make use of "off the shelf" components, and to integrate with an existing industrial robot controller. Based on this experimental platform, we conducted research in the following three aspects.
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First, considering other vision-based robotic systems, we note that although visual sensing for robotics has been around for decades, understanding of a timing model remains crude. By timing model, we refer to the delays between "reality" through data processing, through control, through "arrival." In this work we introduce a generic timing model for vision-based robotic systems where sensing and control operate asynchronously. We apply this model to our novel robotic workcell and present experiments to demonstrate how it works.
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Second, allowing dynamic motions for payloads within a workcell is a fundamentally novel idea for practical industrial robots. The ability to handle payloads moving in semi-structured ways would significantly increase the potential markets for industrial robotics. In this work, we present methods to enable an industrial robot manipulate and intercept varying velocity moving objects. We also introduce a generic theory to model the dynamic intercept and manipulation capability of vision-based robot systems. In order to verify the theory, we present experiments using our industrial workcell to dynamically intercept and manipulate semi-randomly moving objects. The experimental results validate our theory.
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Third, most current robot hands are expensive and heavy, which limits the possibility of putting them on industrial robots because the maximum payload that an industrial robot can carry is small. On the other hand, most grasping research doesn't include vision. Only a few of them incorporate visual sensing, however, they only concentrate on stationary objects. Therefore, in this work, we present a novel pneumatic three-finger hand and use the earlier timing model based dynamic intercept model to allow it to grasp semi-randomly moving objects. The experimental results show that this novel three-finger hand is simple, light and effective.
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Download fulltext (下載全文)
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