Development System for Flexible Assembly System.

Abstract

We have developed theoretical methods for improving the ability of a computer to estimate spatial relationships among objects when the relationships are uncertain; we have developed a very fast method for determining collisions between a robot and its environment in simulation, suitable for hardware implementation; we are developing a method for estimating the location of a workpiece in a manipulator's hand, by measuring forces and torques on the hand as it moves the object; and we are developing an interactive-graphic, off-line robot workcell programming, modeling, and simulation system, called WORKMATE. WORKMATE has been used to generate a demonstration pick and place task incorporating vision, executed in our laboratory workcell. This document includes the following papers: (1) 'On the Representation and Estimation of Spatial Uncertainty'; (2) 'Fast Robot Collision Detection using Graphics Hardware'.

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Document Details

Document Type
Technical Report
Publication Date
Feb 01, 1986
Accession Number
ADA168499

Entities

People

  • Randall C. Smith

Organizations

  • SRI International

Tags

Communities of Interest

  • Air Platforms
  • Autonomy
  • Sensors

DTIC Thesaurus Topics

  • Accuracy
  • Air Force
  • Air Force Facilities
  • C Programming Language
  • Classification
  • Computational Science
  • Computer Programming
  • Computer Science
  • Coordinate Systems
  • Databases
  • Manufacturing
  • Materials Laboratories
  • Military Research
  • Probability
  • Probability Distributions
  • Three Dimensional
  • Two Dimensional

Fields of Study

  • Computer science

Readers

  • Manufacturing Engineering.
  • Regression Analysis.
  • Robotics and Automation.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • AI & ML - Bayesian Inference
  • Autonomy