Abstract
Robot system with high speed object recognition ultrasonic sensor is constructed. Points which characterize the object can be detected by measuring the propagation time of ultrasonic impulse and azimuth which gives its maximum amplitude, and from these points shape, position and orientation of the object are deduced. Experiments of pick-and-place and homing tasks are made for known and unknown objects arbitrarily placed. It proves that a rotational scanning of sensor is sufficient for estimation of position and orientation, recognition of a simple shape object, and identification with one of several different objects, and that two or more scannings enable to recognize more complicated shape object. Satisfactory results of experiments are obtained which suggest the possibility of application of this system to many purposes in place of robot system with ITV vision sensor.
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