Robot Computations for Orienting Workpieces.

摘要

The objective is to develop and test general techniques whereby robots can orient workpieces. This report discusses a number of approaches to mechanize the process of feeding workpieces. The approach to be emphasized in the work is the use of a six degree-of-freedom robot arm. For this choice a division is made between (1) the process of acquiring a single workpiece within the robot hand so that it is possible to transfer the workpiece to the goal without collision,and (2) the process of orienting a workpiece so that it is brought to a goal in the proper pose (position and orientation). Appendix 2discusses the concept of using a set of reference lights which are rigidly attached to the worktable. If robot commands are memorized relative to the reference lights,then robot software is worktable dependent and not robot dependent. Thus,robots with different kinematic configurations can be used to operate a workstation. Another need for industrial robots is a fast,convenient,and safe method to program them. A very useful programming aid in this regard consists of a hand-held array of lights. Such lights can be used to specify robot hand positions and orientations,either relative to the robot or relative to a set of reference lights on the worktable. This array of lights for programming can also specify a robot trajectory (a sequence of hand locations) and the boundaries of obstacles. Appendix 3contains a paper describing this technique. (Portions of this document are not fully legible)