Conference Proceeding

Sensor network based workcell for industrial robots

Dept. of Electr. & Comput. Eng., Clemson Univ., SC
02/2001; DOI:10.1109/IROS.2001.977182 ISBN: 0-7803-6612-3 pp.1434 - 1439 vol.3 In proceeding of: Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on, Volume: 3
Source: IEEE Xplore

ABSTRACT We present a novel approach to the workcell design for enhanced
performance of industrial robot manipulators, in which the workcell
features a specially integrated sensor network. In contrast to
traditional robot workcells, in which the role of environmental sensors
(if present at all) is relatively inflexible and tightly focused on a
specific task, the sensor network performs real-time dynamic sensing of
the entire workcell. The system makes use of "off the shelf" components,
and integrates them with the existing industrial robot controller, to
allow the manipulator to perform more dynamic operations in a less
structured workcell. Details of the novel sensor networked workcell and
experiments with an industrial robot are presented

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    Article: A New Generic Model for Vision Based Tracking in Robotics Systems
    Yanfei Liu, Adam Hoover, Ian Walker, Ben Judy, Mathew Joseph, Charly Hermanson
    [show abstract] [hide abstract]
    ABSTRACT: Visual sensing for robotics has been around for decades, but our understanding of a timing model remains crude. By timing model, we refer to the delays (processing lag and motion lag) between "reality" (when a part is sensed), through data processing (the processing of image data to determine part position and orientation), through control (the computation and initiation of robot motion), through "arrival" (when the robot reaches "reality"). In this work we introduce a timing model where sensing and control operate asynchronously. We apply this model to a robotic workcell consisting of a St ubli RX-130 industrial robot manipulator, a network of six cameras for sensing, and an off-the-shelf Adept MV-19 controller. We demonstrate some experiments to show how the model can be applied.
    02/2004;
  • Source
    Article: A timing model for vision-based control of industrial robot manipulators
    Yanfei Liu, A.W. Hoover, I.D. Walker
    [show abstract] [hide abstract]
    ABSTRACT: Visual sensing for robotics has been around for decades, but our understanding of a timing model remains crude. By timing model, we refer to the delays (processing lag and motion lag) between "reality" (when a part is sensed), through data processing (the processing of image data to determine part position and orientation), through control (the computation and initiation of robot motion), through "arrival" (when the robot reaches the commanded goal). In this study, we introduce a timing model where sensing and control operate asynchronously. We apply this model to a robotic workcell consisting of a Stäubli RX-130 industrial robot manipulator, a network of six cameras for sensing, and an off-the-shelf Adept MV-19 controller. We present experiments to demonstrate how the model can be applied.
    IEEE Transactions on Robotics 11/2004; · 2.54 Impact Factor
  • Source
    Conference Proceeding: A new generic model for vision based tracking in robotics systems
    Yanfei Liu, A. Hoover, I. Walker, B. Judy, M. Joseph, C. Hermanson
    [show abstract] [hide abstract]
    ABSTRACT: Visual sensing for robotics has been around for decades, but our understanding of a timing model remains crude. By timing model, we refer to the delays (processing lag and motion lag) between "reality" (when a part is sensed), through data processing (the processing of image data to determine part position and orientation), through control (the computation and initiation of robot motion), through "arrival" (when the robot reaches "reality"). In this work we introduce a timing model where sensing and control operate asynchronously. We apply this model to a robotic workcell consisting of a Staubli RX-130 industrial robot manipulator, a network of six cameras for sensing, and an off-the-shelf Adept MV-19 controller. We demonstrate some experiments to show how the model is applied.
    Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on; 11/2003
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Keywords

dynamic operations
 
entire workcell
 
environmental sensors
 
existing industrial robot controller
 
industrial robot
 
industrial robot manipulators
 
integrated sensor network
 
integrates
 
manipulator
 
novel sensor networked workcell
 
real-time dynamic
 
traditional robot workcells
 
workcell
 
workcell design