Sensor network based workcell for industrial robots

摘要

We present a novel approach to the workcell design for enhanced performance of industrial robot manipulators, in which the workcell features a specially integrated sensor network. In contrast to traditional robot workcells, in which the role of environmental sensors (if present at all) is relatively inflexible and tightly focused on a specific task, the sensor network performs real-time dynamic sensing of the entire workcell. The system makes use of "off the shelf" components, and integrates them with the existing industrial robot controller, to allow the manipulator to perform more dynamic operations in a less structured workcell. Details of the novel sensor networked workcell and experiments with an industrial robot are presented.