Exploratory Study of Computer Integrated Assembly Systems.

摘要

The research program described in this report deals with the development of programmable assembly devices. The approach taken at this laboratory is to design and implement a complete computer integrated assembly system which can then be used as a research tool for studying problems in industrial automation. The complete system includes manipulators with tactile sensors and TV cameras,tools,fixtures,and auxiliary devices, a dedicated minicomputer,and a time-shared large computer equipped with graphic display terminals. The types of research activity underway include development of high level languages for assembly and for vision,libraries of generic assembly routines,geometric modeling of objects and constraints,assembly simulation,control algorithms,and adaptive methods of calibration. In addition to the practical benefit of this program,it is expected that this research will improve the understanding of machine intelligence in the realms of perception and manipulation.