Sensory Feedback for Industrial Robots - Based on a Distributed System

摘要

In many areas of the industrial production nowadays robots are put to use, requiring sensory abilities in an increasing extent. Application areas are mainly assembly, grinding and deburring technology and laser beam treatment. Starting from the diversity of the demands, a modular solution of the sensor data integration is presented. On the one hand it allows the processing of the sensor data by different chronological points of view, and on the other hand a fast processing by paralleling on transputers for particularly high requirements is possible. To ensure this, an appropriate distribution of the calculations by algorithms is necessary that can be carried out in parallel. Several procedures are examined more closely for their parallelability. An optimum distribution of the functions is supported by suitable software resources.