The use of sensory feedback in a programmable assembly system.
The use of sensory feedback in a programmable assembly system.
IJCAI'69 Proceedings of the 1st international joint conference on Artificial intelligence
A versatile computer-controlled assembly system
IJCAI'73 Proceedings of the 3rd international joint conference on Artificial intelligence
A Prototype Intelligent Robot that Assembles Objects from Plan Drawings
IEEE Transactions on Computers
IBM Systems Journal
Programmable Industrial Automation
IEEE Transactions on Computers
AUTOPASS: an automatic programming system for computer controlled mechanical assembly
IBM Journal of Research and Development
Planning and execution of straight line manipulator trajectories
IBM Journal of Research and Development
Insertions using geometric analysis and hybrid force- position control on a PUMA 560 with VAL II
AAAI'87 Proceedings of the sixth National conference on Artificial intelligence - Volume 2
Insertions using geometric analysis and hybrid force- position control on a PUMA 560 with VAL II
AAAI'87 Proceedings of the sixth National conference on Artificial intelligence - Volume 2
A heterogeneous modular robotic design for fast response to a diversity of tasks
Robotics and Autonomous Systems
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This paper describes the software and hardware architecture of a system designed as a research tool for experiments on programming the computer controlled assembly of mechanical objects. The software consists of a real-time control level and a background level in which an on-line interpreter permits interactive programming. The hardware consists of a manipulator with sensory feedback coupled to an IBM System/7. Additional facilities are available through a link to an IBM System/370 Model 145. The application of the system to sample assemblies is also discussed.