โ Scribed by P.M. Barrie; A. Cunningham; P. Mass; D.W. Pritty; A. Proudfoot
No coin nor oath required. For personal study only.
In general, robots are perceived as highly sophisticated devices with something of a science fiction aura and relating little to the more mundane world of industrial automation.
This paper describes now a simple Cartesian mechanism can be used to provide lowcost control in a continuous arc-welding application. A fundamental examination of the various system functions within the robot has been undertaken. This has resulted in the development of STROBOT, a low-cost robot which exhibits modularity of both the mechanics and the microprocessor control architecture and associated software.
Hardware modularity is achieved through a multiprocessor system accessing a common bus by token arbitration. In addition to the novel control architecture the design of a laser diode based sensor for semi-intelligent seam following in the welding of thin sheet steel is described.
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