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Extra resources for 53.Robotics and Automation
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A and B are input images. C is an output image. 2. W denotes the white level. ) 3. g(X) is a function of a single independent variable X. 4. h(X, Y) is a function of two independent variables X and Y. 5. The assignment operator ⇐ will be used to define an operation that is performed upon all pixels within an image. 6. k1 and k2 are constants. 7. N(i, j) is that set of pixels arranged around the pixel (i, j) in the following way: (i Ϫ 1, j Ϫ 1) (i Ϫ 1, j) (i Ϫ 1, j ϩ 1) (i, j Ϫ 1) (i, j) (i, j ϩ 1) (i ϩ 1, j Ϫ 1) (i ϩ 1, j) (i ϩ 1, j ϩ 1) Notice that N(i, j) forms a 3 ϫ 3 set of pixels and hence is referred to as the 3 ϫ 3 neighborhood of (i, j).
In industrial applications, robot hands do not necessarily have fingers. As a matter of fact, 362 MANIPULATORS Figure 13. Three-fingered robot hand. Reprinted with permission of Barrett Technology Inc. those which utilize magnetic force or vacuum suction force do not require fingers which may be added to prevent the object from falling off. Here we focus on grippers which have fingers (typically two or three). When a robot hand is designed or selected, the following points need to be considered: • • • • • Gripping force and workpiece weight Robot load capacity Power source Work space Environmental conditions These five points are discussed in detail here.
At least the resonance frequency should be approximately on the order of several hundred Hz at the tip of tool. However, because the position sensor does not provide the precise position of the object, things do not work as expected in reality. For example, when the position is sensed by an encoder attached to the motor and drives the tools via reduction gears, like a harmonic drive, the resonance frequency at the end of the tools drastically decreases, for example, to 10 Hz. However, as far as actual task executions are concerned, in many cases, especially in an emergency, the smaller the rigidity, the better the performance.