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

Volume

2

fYear

2000

fDate

2000

Firstpage

628

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/KES.2000.884126

Filename

884126