Title :
Robot end-effector based sensor integration for tracking moving parts
Author :
Konukseven, Erhan Ilhan ; Kaftanoglu, Bilgin
Author_Institution :
Dept. of Mech. Eng., Middle East Tech. Univ., Ankara, Turkey
Abstract :
The paper presents a cost-efficient end-effector based infrared proximity sensor integration system and the implementation of a fuzzy logic control algorithm. End-effector sensor outputs are incorporated in a fuzzy logic control algorithm to make the robotic manipulator grasp objects on a moving conveyor belt. The robot movements are going to be the result of the comparative measurements made by the sensors after the motion of the moving target is predicted and the gripper is brought into a zone close to the object to be grasped by the application of a vision system
Keywords :
fuzzy control; manipulators; optical tracking; robot vision; sensor fusion; comparative measurements; cost-efficient end-effector; end-effector based infrared proximity sensor integration system; end-effector sensor outputs; fuzzy logic control algorithm; gripper; moving conveyor belt; moving part tracking; moving target; robot end-effector based sensor integration; robot movements; robotic manipulator; vision system; Belts; Control systems; Fuzzy logic; Infrared sensors; Manipulators; Motion measurement; Robot sensing systems; Robot vision systems; Sensor systems; Sensor systems and applications;
Conference_Titel :
Knowledge-Based Intelligent Engineering Systems and Allied Technologies, 2000. Proceedings. Fourth International Conference on
Conference_Location :
Brighton
Print_ISBN :
0-7803-6400-7
DOI :
10.1109/KES.2000.884126
