Center for Automation and Manufacturing Science Established at Stanford University.
Abstract
A system of real time collision avoidance was implemented. The system is based on the use of potential functions around obstacles. An experimental manipulator programming system COSMOS using the method has been designed for the PUMA and demonstrated with obstacles detected by an MIC vision module. A dynamic simulator was implemented as a software equivalent of a robot are. A new nonlinear and generalizable technique has been developed that will continuelly monitor the parameters of a robot arm to estimate continuously the inertial forces and friction in robot joints. Contributions have been made toward the successor for ACRONYM the modeling system of successor is greatly generalized to include multiple naming, holes and set operations on volumes. Automatic Task Level Assembly Synthesizer (ATLAS) was advanced significantly in power and usability. Several porable versions of LISP have been developed & both utilized. Implementation of new edge operator, tests of shape from a shading algorithm, and experimentation toward building an active ranging device.
Document Details
- Document Type
- Technical Report
- Publication Date
- Dec 01, 1985
- Accession Number
- ADA174657
Entities
People
- James D. Meindl
- Robert H. Cannon
- Thomas O. Binford
Organizations
- Stanford University