19 October 1987 A Demonstrator Intelligent Scheduler For Sensor-Based Robots
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Abstract
The development of an execution module capable of functioning as as on-line supervisor for a robot equipped with a vision sensor and tactile sensing gripper system is described. The on-line module is supported by two off-line software modules which provide a procedural based assembly constraints language to allow the assembly task to be defined. This input is then converted into a normalised and minimised form. The host Robot programming language permits high level motions to be issued at the to level, hence allowing a low programming overhead to the designer, who must describe the assembly sequence. Components are selected for pick and place robot movement, based on information derived from two cameras, one static and the other mounted on the end effector of the robot. The approach taken is multi-path scheduling as described by Fox pi. The system is seen to permit robot assembly in a less constrained parts presentation environment making full use of the sensory detail available on the robot.
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Gabriella Perrotta, Gabriella Perrotta, Charles R. Allen, Charles R. Allen, Andrew J. Shepherd, Andrew J. Shepherd, "A Demonstrator Intelligent Scheduler For Sensor-Based Robots", Proc. SPIE 0856, IECON '87: Industrial Applications of Robotics & Machine Vision, (19 October 1987); doi: 10.1117/12.943020; https://doi.org/10.1117/12.943020
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