The Use of Sensory Feedback in a Programmable Assembly System

Abstract

The article describes an experimental, automated assembly system which uses sensory feedback to control an electro-mechancal arm and TV camera. Visual, tactile, and force feedback are used to improve positional information, guide manipulations, and perform inspections. The system has two phases: a 'planning' phase in which the computer is programmed to assemble some object, and a 'working' phase in which the computer controls the arm and TV camera in actually performing the assembly. The working phase is designed to be run on a mini-computer. The system has been used to assemble a water pump, consisting of a base, gasket, top, and six screws. This example is used to explain how the sensory data is incorporated into the control system.

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Document Details

Document Type
Technical Report
Publication Date
Oct 01, 1973
Accession Number
AD0772064

Entities

People

  • Richard Paul
  • Robert Bolles

Organizations

  • Stanford University

Tags

Communities of Interest

  • Sensors

DTIC Thesaurus Topics

  • Artificial Intelligence
  • Assembly
  • Classification
  • Computer Programming
  • Computer Science
  • Computer Vision
  • Computers
  • Control Systems
  • Errors
  • Instructions
  • Language
  • Machine Perception
  • Orientation (Direction)
  • Security
  • Two Dimensional
  • Water Pumps
  • Work Stations

Readers

  • Computer Science/Computer Engineering/Data Science/Digital Signal Processing.
  • Electrical Engineering
  • Vision Science/Vision Psychology/Cognitive Neuroscience.