Part recognition system for a robot arm

Τίτλος

Part recognition system for a robot arm

Θέμα

Mechanical ability

Recognition

Intel 8085A (Microprocessor)

Δημιουργός

Nicolaou, Marios

Πηγή

Higher Technical Institute

Το πλήρες κείμενο είναι διαθέσιμο από το Υπουργείο Ενέργειας, Εμπορίου Βιομηχανίας και Τουρισμού.

Εκδότης

Library of Cyprus University of Technology

Ημερομηνία

1992

Συνεισφέρων

Kassinopoulos, Marios

Δικαιώματα

Απαγορεύεται η δημοσίευση ή αναπαραγωγή, ηλεκτρονική ή άλλη χωρίς τη γραπτή συγκατάθεση του δημιουργού και κάτοχου των πνευματικών δικαιωμάτων.

Μορφή

pdf

Γλώσσα

en

Τύπος

text

Αναγνωριστικό

EED0190

Σύνοψη

Sensing and recognition systems are the connection of robots with the outside world. Usually these systems are very complicated because many parameters must be involved for the robot to perform the required task.In our case a recognition system should be designed to monitor a production line and through sensing, evaluate information regarding the passing items. Then decision making should take place within the recognition system depending on the parameter of interest. The data obtained should be transferred to an IBM-PC through a data acquisition card. Finally, once the data were passed to the PC, another project undertaken by a Mechanical Engineer would evaluate the data and accordingly give instructions to the Robot Arm. As it is realised this is a very general approach to the problem and therefore each step of the process had to be specified in order to merge all the original ideas in a complete engineering application. Therefore after discussing with my supervisor and the colleague who undertook the mechanical project, the following decisions were made: • The parameter to be utilised would be the length of the passing items which would be evaluated using photosensing. • A 8085 based system would be used to process the information coming from the sensor and transfer it to the IBM-PC. • The unit was not to be approached as an instrumentation system which would implement accurate measuring but alternatively the system should preferably be able to distinguish between standard predetermined lengths since in this manner we would not face the limitation of a fixed conveyor speed. Therefore the unit can have a wider engineering application. • The data acquisition card provided by the Department was not to be used and instead a 8255 interface card should be constructed to transfer the information to the IBM-PC. The original effort was to design and construct the recognition unit along with required software which would just be able to distinguish the length of two items (Scm and 15cm long) and pass this data to the PC. After this application operated succesfully it was decided to extend the ability of the system by introducing handshaking. The robot would return a data acceptance code every time it received data from the recognition system so that the 8085 microprocessor would know that the data given has been received . • Finally a Pascal Program was designed to simUlate the handshaking with the robot for demonstration purposes.