Title :
Fusion of force and vision data for intelligent assembly
Author :
Thien, Roger J. ; Hill, Simon D.
Author_Institution :
Dept. of Robot. & Digital Technol., Monash Univ., Clayton, Vic., Australia
Abstract :
The architecture of an industrial-robot assembly cell is detailed. A central feature of the cell is expert system software that provides knowledge-based fusion of data from force and vision sensors. The expert system code also generates new assembly strategies as the sensor measurements evolve, and creates error-recovery plans in response to the current state of the assembly process. Results are presented for an electric-motor assembly task that demonstrate the system´s robustness when subjected to variations in component positioning and mating forces
Keywords :
assembling; expert systems; industrial robots; component positioning; electric-motor assembly task; error-recovery plans; expert system software; force data fusion; industrial-robot assembly cell; intelligent assembly; knowledge-based fusion; mating forces; sensor measurements; vision data fusion; Assembly systems; Computer architecture; Current measurement; Expert systems; Force sensors; Fusion power generation; Intelligent sensors; Sensor fusion; Sensor systems; Software systems;
Conference_Titel :
TENCON '92. ''Technology Enabling Tomorrow : Computers, Communications and Automation towards the 21st Century.' 1992 IEEE Region 10 International Conference.
Conference_Location :
Melbourne, Vic.
Print_ISBN :
0-7803-0849-2
DOI :
10.1109/TENCON.1992.271944
