Abstract
The sensing systems for flexible automation and robotics systems are increasing in complexity and require more data processing. Dedicated microprocessors and stand-alone sensor systems are being used more often to relieve the increased processing burden. This leads naturally to a modular approach for building systems. A system comprising interchangeable ‘Intelligent Sensor Modules’ is presented, along with a set of possible algorithms and methods for inter-modular communication. As an example of the modular approach, the generic task of inserting a peg from a random orientation is implemented by constructing a simple modular system (consisting of a microprocessor controlled tactile array sensor, a robot, and a host microcomputer) by using the techniques presented herewith.
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