Pham, DT & Dissanayake, G 1985, 'FEASIBILITY STUDY OF A VIBRATORY SENSOR FOR LOCATING 3-D OBJECTS.', Proceedings of the International Machine Tool Design and Research Conference, pp. 201-211.
A novel sensor is investigated which is intended to be mounted at the wrist of a robot to enable it to determine the co-ordinates of a part it has picked up from a stack or tray. The device operates by letting the part vibrate about two orthogonal axes and measuring its inertia-dependent instantaneous velocities and angles of vibration. The mathematical procedures for extracting position and orientation data from these measurements are described. The results of computer simulations carried out to determine guidelines for the design of the device are presented and discussed.
Two inertia-based sensors for determining the position and orientation of three-dimensional objects are described. One of them involves letting the objects vibrate about two orthogonal axes simultaneously and measuring the angles and velocities of vibration at various instants of time. In the other sensor, the objects are also vibrated about two axes but the vibrations are performed sequentially and the frequencies of vibration are measured. The mathematical procedures for obtaining the position and orientation of the objects from the measurements are outlined for the second sensor. Results of the computer simulations carried out to assess the feasibility of the latter are presented.
A compromise solution to the problem of economically feeding parts to industrial robots is investigated. The parts are neither accurately presented as in the case of traditional feeding equipment nor jumbled up as in the case of bin-picking machines. Instead, they are semi-ordered into stacks or trays and then unloaded by the robots as needed. The robots are to be equipped with a novel sensor fitted to their wrists for determining the exact coordinates of the parts they have picked up. The device operates by letting the parts vibrate about three orthogonal axes and measuring their inertia-dependent natural frequencies of vibration. The mathematical procedures for extracting position and orientation data from those measurements are described. The results of computer simulations carried out to determine guidelines for the design of the device are presented and discussed.