Hostname: page-component-586b7cd67f-2brh9 Total loading time: 0 Render date: 2024-11-27T11:27:42.055Z Has data issue: false hasContentIssue false
  • English
  • Français

A curvilinear snake arm robot with gripper-axis fibre-optic image processor feedback

Published online by Cambridge University Press:  09 March 2009

W. K. Taylor ,
D. Lavie  and
I. I. Esat
W. K. Taylor
Affiliation:
Department of Electronic and Electrical Engineering, University College London, London (U.K.)
D. Lavie
Affiliation:
Department of Electronic and Electrical Engineering, University College London, London (U.K.)
I. I. Esat
Affiliation:
Department of Electronic and Electrical Engineering, University College London, London (U.K.)
Get access Rights & Permissions [Opens in a new window]

Summary

A curvilinear robot constructed from a number of modular flexible sections of fixed length and diameter but independently controlled radius and direction of curvature has been equipped with an optical fibre image guide transmitting images from between the gripper jaws to the remote TV camera of Microvision-100, a microcomputer controlled real-time DMA-based vision System that is easily trained to recognise the shape, position and orientation of components. The gripper position and orientation is controlled by feedback from the vision System, the action taken depending on component recognition and inspection for defects. Redundant degrees of freedom enable the curvilinear robot to avoid obstacles and work in confined spaces.

Type
Article
Information
Robotica , Volume 1 , Issue 1 , January 1983 , pp. 33 - 39
Copyright
Copyright © Cambridge University Press 1983

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Makhlin, A.G. “Robot Control and Inspection by Multiple Camera Vision System” Proc. 11th ISIR, Tokyo 121–136 (10 1981).Google Scholar
2.Taylor, W.K. and Ero, G. “Real Time Teaching and Recognition System for Robot Vision” The Industrial Robot 7, No. 2, 99–106 (06, 1980).Google Scholar
3.Renaud, M., “Geometric and Kinematic Models of a Robot Manipulator” Proc. 11th ISIR, Tokyo 757–763 (10, 1981).Google Scholar