Sensor-based robotic assembly systems: Research and applications in electronic manufacturing

The analysis, design, and evaluation of robotic systems for manufacturing applications require understanding of sensing, representation, and manipulation as well as the integration and configuration of computer processors for control of the system. Robotic assembly presents particularly complex research issues due to the physical interactions among workpieces, precise positioning, and complex geometry of the manipulations. This paper presents an overview of research in the Flexible Assembly Laboratory at Carnegie-Mellon University and describes results in force, tactile, and visual sensing, sensor-based control, gripper design, and the configuration of a testbed multirobot integrated system for experiments in assembly of electronic components, using vision for the acquisition and orientation of parts and tactile sensing for assistance in insertion tasks. A joint research program between CMU and Westinghouse Electric Corporation has resulted in the development of the Standard Electronic Assembly Station (SEAS) which integrates a variety of research concepts into a production prototype for circuit board assembly.