cfry@watdcsu.waterloo.edu (C.Fry - Inst. Computer Research) (06/17/88)
ICR Presents a Seminar
in cooperation with the Information Technology Research Centre
Inertia-Based Sensors for Robotics
by
D.T. Pham
of
University of Birmingham
Birmingham, England
Abstract
The development of sensors for determining the position and
orientation of rigid parts by vibrating them and measuring param-
eters associated with the vibration will be described. The aim
of the work was to find flexible, economic and reliable means of
enabling robots to feed themselves with workpieces.
It is envisaged that, using the sensors, the robots would be able
to acquire parts from stacks or trays. The initial location of
the parts does not have to be precisely known and there will be
no need for accurate jigs and fixtures and part presentation
equipment. On the other hand, parts are not completely disor-
dered, as they would be in a bin.
The computation of the exact co-ordinates of the parts takes
place after they have been picked up. As previously mentioned,
this involves measuring vibration characteristics (frequencies,
speeds, displacements) of the system comprising the sensor and
the part to be located.
Different versions of sensors will be described. The use of
Transputers (microprocessors designed for parallel computing) to
speed up the sensor's operation will be discussed.
The talk will be illustrated with a short video.
DATE: Tuesday, June 21, 1988
TIME: 10:30 a.m.
PLACE: University of Waterloo, Davis Centre, Room 1302
Everyone is welcome. Refreshments served.