A Sorting System Using Very Low Resolution Optical Sensor Array in Robot Fingertips.
Abstract
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.
Document Details
- Document Type
- Technical Report
- Publication Date
- May 01, 1986
- Accession Number
- ADA171733
Entities
People
- M. W. Siegel
- Rui Q. Yang
Organizations
- Carnegie Mellon University