Browse Prior Art Database

MACBOTS IN PAGING

IP.com Disclosure Number: IPCOM000006088D
Original Publication Date: 1991-Apr-01
Included in the Prior Art Database: 2001-Dec-03
Document File: 4 page(s) / 174K

Publishing Venue

Motorola

Related People

Pete Kahn: AUTHOR [+3]

Abstract

Motorola's Boynton Beach Pager factory has designed and implemented IGOPPS (Image Guided Odd Parts Placement System) to answer many of the factory needs for vision guided robotic assembly stations. The basic configuration of the system is shown in figure-l.

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MOTOROLA INC. Technical Developments Volume 12 "April 1991

MACBOTS IN PAGING

by Pete Kahn, Ken Wasko and Gary Blitman

  Motorola's Boynton Beach Pager factory has designed and implemented IGOPPS (Image Guided Odd Parts Placement System) to answer many of the factory needs for vision guided robotic assembly stations. The basic configuration of the system is shown in figure-l.

  The system is centered around the Seiko RT3200 robotic arm and a Macintosh based cell controller. The cell control software is written in RAIL, an interpretive high level vision and robotic control language developed by Automatix Inc. RAIL is capable of calling compiled routines written in C for additional programming flexibility. An extensive library of C routines for vision processing and peripheral control included in RAIL are currently utilized by the IGOPPS system.

  IGOPPS provides a consistent (Macintosh System Toolbox) user interface for operators and technicians to operate and maintain the cell. Technicians can perform a wide variety of utilities including running different products, adding or modifying products, adjusting vision windows, configuring feeders, calibrating vision, editing robot code, and exercising I/O. All utilities are menu driven (see figures 2 and 3) and adhere to the Macintosh user interface standards which greatly reduce technician training time.

  IGOPPS is designed to place a wide variety of components using vision'guidance in a standard manner as follows. When work arrives at the station, the MAC identifies the pallet and commands the robot to start building the pallet with a download of build information. The basic IGOPPS robot software is very generic and keys off of elements from a downloaded array to determine which part to pick, which tip to use, where to look for fiducials, etc. (More information on the robot download will follow.) While the robot is fetching the first part, the MAC indexes the pallet to the work area. The robot positions the arm camera over each fiducial and tells

the MAC to capture images of the fiducials and find the center of each fiducial in the robot coordinate system. Next the robot presents the part to the fixed camera and the MAC captures an image of the part. Once the image is captured the robot moves tb a position just above the most probable placement position. While the robot is moving, the MAC calculates the center and angle of the part in the robot coordinate system. The MAC then calculates the corrected placement location by using the following information: Camera Calibration matrices, Robot Teach point of all images acquired, location of fiducials and part in robot coordinate system and CADS data which includes the location of fiducials and part in any PC board reference frame. The MAC gives the robot the corrected placement location and the robot places that part. This is repeated for as many parts as desired. All Seiko/MAC communication takes place over an RS-232 link and a few DIO lines....