A hierarchically controlled, sensory interactive robot in the automated manufacturing research facility

The National Bureau of Standards, Center for Manufacturing Engineering is implementing an experimental factory called the Automated Manufacturing Research Facility (AMRF). The AMRF will operate as a small batch machine shop and is currently configured with three machining workstations, a cleaning and deburring workstation and an inspection workstation. Each of these workstations will employ robotic material handling including machine loading and unloading. At present each workstation is at a different stage of completion. The "Horizontal Workstation" which contains a horizontal-spindle N.C. machine tool and one material handling robot has been completely integrated. The material handling robot is a Cincinnati Milacron T3 (hydraulic) which has been enhanced to meet the requirements of the AMRF. This robot has been equipped with a hierarchical robot control system, a 3-D vision system, a watchdog safety system and an instrumented, servo controlled gripper, all of which were developed at the National Bureau of Standards. Each of these systems is described individually together with a description of the enhanced capabilities of the robot with these systems operating as an integrated package.