Title :
Integrating sensing, task planning, and execution for robotic assembly
Author :
Tung, Chao-Ping ; Kak, Avinash C.
Author_Institution :
Robot Vision Lab., Purdue Univ., West Lafayette, IN, USA
fDate :
4/1/1996 12:00:00 AM
Abstract :
This paper deals with enhancing the level of autonomy in a robotic work cell. With that mission in mind, the authors present an integrated framework for the sensing, the planning, and the execution aspects of assembly. In experimental demonstrations of this system on a PUMA762, the authors can now throw objects randomly into the workspace of the robot and the robot then automatically synthesizes a manipulation plan that includes the operations of sensing, grasping, and regrasping. Each operation is invoked only when it is deemed necessary for the successful execution of assembly
Keywords :
assembling; industrial manipulators; manipulator kinematics; path planning; robot vision; PUMA762; execution; level of autonomy; manipulation plan; planning; regrasping; robotic assembly; sensing; Assembly systems; Fixtures; Humans; Laboratories; Process planning; Robot sensing systems; Robot vision systems; Robotic assembly; Robotics and automation; Service robots;
Journal_Title :
Robotics and Automation, IEEE Transactions on