A Sorting System Using Very Low Resolution Optical Sensor Array in Robot Fingertips.
CARNEGIE-MELLON UNIV PITTSBURGH PA ROBOTICS INST
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A low-cost optical sensory sorting system is described. The sensor is directly mounted on robot gripper fingers, a light source on one and a coherent bundle of optical fibers on the opposing one. The optical fibers carry the shadow of a gripped object, as an eight-by-eight pixel array to detection, multiplexing, discrimination, and computer interface electronics mounted on the robot base. The system uses a microcomputer for several data processing and pattern recognition functions. This discussion covers the design and analysis of the sensor and its optimal array, the hardware, and the parts recognition and control system. System performance in a demonstration task requiring the acquisition, identification, and sorting of a variety of electronic and mechanical parts is described.
- Computer Programming and Software
- Computer Hardware
- Manufacturing and Industrial Engineering and Control of Production Systems
- Optical Detection and Detectors