An Intelligent Part Sorting Robot in Unstructured Manufacturing Environments

Abstract

SUMMARYThis paper outlines a method for control of robotic systems for part sorting operations in unstructured manufacturing environments. The sorting is accomplished simply and without any change in the kinematic structure of the robot or any need for inclusion of complicated external sensory systems. The method developed is based on the inherent relationship between the mass of parts to be carried and the maximum velocity of the tool centre point attainable along certain specified paths.The actuators' maximum velocity is detected and is communicated to a devised expert system. The expert system uses this maximum velocity as a part of its matching procedure for the purpose of part sorting.