Sensor-based robotic assembly systems - Research and applications in electronic manufacturing
Abstract
Robotic assembly systems present complex research problems, due to the physical interactions among work pieces, precise positioning, and complex manipulation geometries involved. Attention is presently given to the researches which have been undertaken at Carnegie-Mellon University's Flexible Assembly Laboratory concerning force, tactile and visual sensing, sensor-based control, gripper design, and the configuration of an integrated multirobot system for experiments in the assembly of electronic components by means both of vision for the acquisition and orientation of parts, and tactile sensing for assistance in insertion tasks. An additional research program has led to the development of the Standard Electronic Assembly Station, which integrates a variety of research concepts into a production prototype for circuit board assembly.
- Publication:
-
IEEE Proceedings
- Pub Date:
- July 1983
- Bibcode:
- 1983IEEEP..71..856S
- Keywords:
-
- Assembly;
- Computer Aided Manufacturing;
- Computer Vision;
- Electronic Control;
- Research Projects;
- Robotics;
- Circuit Boards;
- Image Processing;
- Manipulators;
- Positioning Devices (Machinery);
- Servocontrol;
- Signal Processing;
- Systems Engineering;
- Tactile Discrimination;
- Tactile Sensors (Robotics);
- Engineering (General)