tailieunhanh - Industrial Robotics (Theory, Modelling and Control) - P9

Ai đã bao giờ nghĩ rằng một robot tự động có thể thực hiện phẫu thuật ốc tai và phát hiện rất nhỏ thay đổi có hiệu lực và mô-men xoắn như một mũi khoan robot tiếp xúc với màng tế bào mỏng, mềm mà không phải thâm nhập được? (Một nhiệm vụ mà ngay cả các bác sĩ phẫu thuật tốt nhất của con người không thể đạt được con sistently với hướng dẫn sử dụng các công cụ khoan) Ai có thể tưởng tượng rằng robot sẽ là Assem- giàu sang và tạo ra hầu hết các sản phẩm chúng ta sử dụng. | Visual Conveyor tracking in High-speed Robotics Tasks 767 Dynamically altering belt locations for collision-free object picking on-the-fly The three previously discussed user tasks when runnable and selected by the system s task scheduler attach respectively the robots Task 1 robot 1 - a SCARA-type robot Cobra 600TT was considered Task 2 and 3 robot 2 - the vision conveyor belt of a flexible feeding system. In multiple-robot systems like the one for conveyor tracking SELECT robot operations select the robot with which the current task must communicate. The SELECT operation thus specifies which robot receives motion instructions for example DRIVE to move the vision belt in program drive or MOVES to move the SCARA in program track and returns robot-related information for example for the HERE function accessing the current vision belt location in program read . Program track executing in task 1 has two distinct timing aspects which correspond to the partitioning of its related activities in STAGE 1 and STAGE 2. Thus during STAGE 1 track waits first the occurrence of the on-off transition of the input signal generated by a photocell indicating that an object passed over the sensor and will enter the field of view of the camera. Then after waiting for a period of time experimentally set up function of the belt s speed track commands the vision system to acquire an image identify an object of interest and locate it. During STAGE 2 track alters continuously once each major 16 millisecond system cycle the target location of the end-effector - computed by vision by composing the following relative transformations SET 1 where is the learned grasping transformation for the class of objects of interest. The updating of the end-effector target location for grasping one moving object uses the command ALTER Dx Dy Dz Rx Ry Rz which specifies the magnitude of the real-time path modification that is to be applied to the robot