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An Intelligent Part Sorting Robot in Unstructured Manufacturing Environments

Published online by Cambridge University Press:  09 March 2009

M. Mehdian  and
H. Rahnejat
M. Mehdian
Affiliation:
Robotics and Machine Intelligence Group, School of Engineering, Thames Polytechnic, wellington Street, Woolwich, London SE18 6PF (UK).
H. Rahnejat
Affiliation:
On-line Surveillance, Monitoring and Diagnostics Unit, School of Mechanical, Aeronautical and Production Engineering, Kingston Polytechnic, Canbury Park Road, Kingston, Surrey (UK).
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Summary

This paper outlines a method for control of robotic systems for part sorting operations in unstructured manufacturing environments. The sorting is accomplished simply and without any change in the kinematic structure of the robot or any need for inclusion of complicated external sensory systems. The method developed is based on the inherent relationship between the mass of parts to be carried and the maximum velocity of the tool centre point attainable along certain specified paths.

The actuators' maximum velocity is detected and is communicated to a devised expert system. The expert system uses this maximum velocity as a part of its matching procedure for the purpose of part sorting.

Keywords

Intelligent robotPart sortingUnstructured environmentsExpert systemMaximum velocity

Information

Type
Article
Information
Robotica , Volume 10 , Issue 2 , March 1992 , pp. 155 - 164
Copyright
Copyright © Cambridge University Press 1992

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