Hostname: page-component-7479d7b7d-pfhbr Total loading time: 0 Render date: 2024-07-11T04:50:08.372Z Has data issue: false hasContentIssue false
  • English
  • Français

Virtual Devices and Intelligent Gripper Control in Robotics

Published online by Cambridge University Press:  09 March 2009

H.R. Nicholls ,
J.J. Rowland  and
K.A.I. Sharp
H.R. Nicholls
Affiliation:
A.I. & Robotics Research Group, Department of Computer Science, University College of Wales, Aberystwyth, Dyfed SY233BZ (U.K.)
J.J. Rowland
Affiliation:
A.I. & Robotics Research Group, Department of Computer Science, University College of Wales, Aberystwyth, Dyfed SY233BZ (U.K.)
K.A.I. Sharp
Affiliation:
A.I. & Robotics Research Group, Department of Computer Science, University College of Wales, Aberystwyth, Dyfed SY233BZ (U.K.)
Get access Rights & Permissions [Opens in a new window]

Summary

This paper is concerned with the design of intelligent subsystems that interface actuators and sensors to intelligent supervisors for robot work-cells. Benefits of our approach include removal of low level computation and stringent real-time constraints from the superviser, potential for combining and interpreting information from sensor combinations, and provision of a uniform information interface for disparate devices. Our approach to the design and organisation of these subsystems is based on the concept of virtual devices. We demonstrate the applicability of the concept by describing the design and implementation of an intelligent controller for a sensory gripper.

Keywords

GripperRoboticsVirtual devicesIntelligent controlActuatorsSensors
Type
Article
Information
Robotica , Volume 7 , Issue 3 , July 1989 , pp. 199 - 204
Copyright
Copyright © Cambridge University Press 1989

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Owen, T., Assembly with Robots (Kogan Page, London, 1985).Google Scholar
2.Pham, D.T. & Heginbotham, W.B. (eds.), Robot Grippers (IFS Publ. Bedford, UK, 1986).Google Scholar
3.Mott, D.H., Lee, M.H. & Nicholls, H.R. “An Experimental Very High Resolution Tactile Sensor Array” In: Pugh, A. (ed.) Robot Sensors Volume 2, Tactile and Non–Vision (IFS publ, Bedford, UK, 1986).Google Scholar
4.Pugh, A. (ed.) Robot Sensors Volume 1, Vision (IFS publ, Bedford, UK, 1986).Google Scholar
5.Henderson, T.C. & Shilcrat, E., “Logical Sensor Systems” J. Robotic Systems 1, No. 2, 169–193 (1984).CrossRefGoogle Scholar
6.Luo, R.C. & Henderson, T.C., “A Servo–Controlled Robot Gripper with Multiple Sensors and its Logical Specification” J. Robotic Systems 3, No. 4, 409–420 (1986).CrossRefGoogle Scholar
7.Milovanovic, R., “Towards sensor–based general purpose robot programming language” Robotica 5, No. 4, 309–316 (1987).Google Scholar
8.Hardy, N.W., Barnes, O.P. & Lee, M.H., “Declarative Sensor Knowledge in a Robot Monitoring System” In: Rembold, U. & Hormann, K. (eds.) NATO ASI Series, 29, Languages for Sensor–Based Control in Robotics (Springer Verlag, Berlin, Heidelberg, 1987) pp. 169–187.Google Scholar
9.Barnes, D.P., Hardy, N.W., Lee, M.H., Orgill, C. H. & Robinson, V., “A Software Development Package for Intelligent Supervisory Systems – Specification” Internal Report ref. UCW–RRG–TR–75−86, Dept. of Computer Science, University College of Wales, Ab erystwyth, UK (1986).Google Scholar
10.Beni, G., Hackwood, S. & Rin, L., “Dynamic Sensing for Robots – An Analysis and Implementation” Proc. 3rd. Intl. Conf. on Robot Vision & Sensory Controls249–255 (IFS publ, Bedford, UK, 1983).Google Scholar
11.The Official Handbook of MASCOT (Computing Division, Royal Signals & Radar Establishment, Malvern, UK, 1987).Google Scholar
12.Warnecke, H.-J. & Haaf, D., “Components for Programmable Assembly–Grippers, Sensors, Conveying Systems for an Industrial Robot Engaged Together with Fixed Automation” Proc. 2nd Int. Conf. on Assembly Automation,Brighton, U.K.225–233 (1981).Google Scholar