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| A Sorting System Using Optical Sensor Array in Robot Fingertips |
| YANG Ruqing1, M. W. Siegel2 |
1. Shenyang Institute of Automation, Academia Sinica;
2. Robotics Institute, Carnegie-Mellon Univ |
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Abstract A low-cost Optical Sensory sorting system is described in this paper.The sensoris mounted directly on the robot gripper fingers.It uses a light source and a bundleof optical fibers on opposing robot fingers.The optical fibers carry the shadow of agripped object,as an eight-by-eight pixel array,to detection,multiplexing,discri-mination,and computer interface electronics mounted on the robot base.The systemuses a microcomputer for several data processing and pattern recognition functions.Discussion in this paper includes the design and analysis of the sensor and its opti-mal array,the hardware,and the parts recognition and control system.System per-formance in a task which requires acquisition,identification,and bin-sorting of avariety of electronic and mechanical parts is also covered.
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Received: 10 February 1987
Published: 15 May 1988
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