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Coarse Checkout System for Multiple Robots

IP.com Disclosure Number: IPCOM000046326D
Original Publication Date: 1983-Jul-01
Included in the Prior Art Database: 2005-Feb-07
Document File: 1 page(s) / 12K

Publishing Venue

IBM

Related People

Freiman, CV: AUTHOR

Abstract

The system to be described is best understood by considering the simple case of two robots testing back panel wiring. (This case may be handled more directly by other methods, but serves to illustrate the basic process.)

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Coarse Checkout System for Multiple Robots

The system to be described is best understood by considering the simple case of two robots testing back panel wiring. (This case may be handled more directly by other methods, but serves to illustrate the basic process.)

The system uses a motion picture camera to superimpose the image of each arm operating independently. The test involves running the wire test program twice - each time mechanically disabling one of the two robots. The film is rewound after the first run and reimaged when the second robot is operated.

After development, the film is viewed to see if the two robots ever come "close" to occupying the same place at the same time. If they do not come close in this empirical sense, they may be run simultaneously without fear of collision. If they do, further detailed examination of the scenario is called for.

It is clear how to generalize from this case. The back panel case is two- dimensional. In three-dimensional cases multiple cameras could be employed or, if one camera showed the possiblity of collision, a second set of runs could be made from another camera angle. It is sufficient that one camera angle show that satisfactory separation has been realized to guarantee that a collision is not forthcoming. If all camera angles on all runs show the possiblity of collision, then either more camera angles must be employed or detailed analysis is again called for.

The example is also simple in that both robots are...