Accession Number:

AD0772064

Title:

The Use of Sensory Feedback in a Programmable Assembly System

Descriptive Note:

Technical rept.

Corporate Author:

STANFORD UNIV CA DEPT OF COMPUTER SCIENCE

Personal Author(s):

Report Date:

1973-10-01

Pagination or Media Count:

30.0

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.

Subject Categories:

  • Computer Programming and Software
  • Computer Hardware
  • Bionics

Distribution Statement:

APPROVED FOR PUBLIC RELEASE