Development of Robotic End-Effector Using Sensors for Part Recognition and Grasping

摘要

With the advent of new technologies manufacturing houses are willing to adopt new technologies and strategies to make their products more reliable and competitive. The present work deals with the development of a multiple sensor integrated robot end-effector which can be able to recognize unshaped parts and unknown environment in the field of industrial robot is presented. In order to percept sufficient information of the internal state, workspace objects and geometric properties, the different types of sensors are configured, including a ultrasonic sensors, vision sensor, proximity sensors and F/T sensors, described the shape of the surfaces by curves and patches, performing part recognition and find lines in to the edges of each part respectively. In this paper, we analyze the task requirements in terms of what information needs to be represented, how to represent it, what kind of methodology can be used to process it, and how to implement in the system, which is more open, flexible, universal and lighter end-effector. 