The Use of Sensory Feedback in a Programmable Assembly System
STANFORD UNIV CA DEPT OF COMPUTER SCIENCE
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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.
- Computer Programming and Software
- Computer Hardware