Distributed architecture for intelligent robotic agents for assembly

Authors:
Reyes Rios-Cabrera;Ismael Lopez-Juarez
Affiliations:
Research Division, Advanced Technology Center, El Marques, Queretaro, Mexico;Research Division, Advanced Technology Center, El Marques, Queretaro, Mexico
Venue:
ICS'06 Proceedings of the 10th WSEAS international conference on Systems
Year:
2006

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Abstract

This paper describes the architecture of a distributed system for an intelligent manufacturing cell using CORBA as a middleware. There are four main systems, the task planner (SIEM), the object recognition system (SIRIO), the processing language system (SPLN) and the main coordinator of the cell (SICT). It is described the distributed architecture in detail, design and experiments using a Local Area network (LAN) and an industrial robot KUKA KR-15 to fusion different modalities in a common task. The modalities are: vision, contact force sensing (tactile), and natural language processing using context free grammars. The vision modality and force sensing are implemented based on a Fuzzy ARTMAP neural network and a main coordinator.