Development System for Flexible Assembly System.
Abstract
This report summarizes research in some basic problems that make programming of flexible robotic assembly tasks difficult. It describes initial efforts of implementing and using an interactive graphic offline programming system, called WORKMATE. Results described in five technical papers, include: 1) a powerful and efficient method was developed for estimating compounded and reduced locational uncertainties among sensors, robots, and objects based on their individual uncertain spatial relationships. This method is useful in determining if spatial errors in a planned task sequence will fall within acceptable tolerances. 2) A fast algorithm, using VLSI clipping hardware in our silicon graphics IRIS graphics workstation, was developed to determine of a simulated moving manipulator will collide with modeled 3-D objects during its motions. The method is implemented in WORKMATE, which can graphically indicate the piece of the manipulator penetrating any of the objects at an animation speed of 4 to 6 pictures/sec. 3) Two methods were developed, using different sensor modalities, to estimate the grasping error when a manipulator hand picks up an object. This error can be compensated by proper modification of the manipulator's motion. An experiment in off-line assembly programming, using WORKMATE, is described. An assembly task, requiring sensory feedback, was programmed entirely off-line, and the resulting program was subsequently executed on a real robotics testbed.
Document Details
- Document Type
- Technical Report
- Publication Date
- Aug 01, 1986
- Accession Number
- ADA173121
Entities
People
- Aviv Bergman
- David Nitzan
- John K. Myers
- Peter Cheeseman
- Randall C. Smith
Organizations
- SRI International