- Full text PDF available (4)
- This year (0)
- Last five years (0)
A versatile assembly system, using TV cameras and oomputer-controlled arm and moving table, is described. It makes almple assemblies such aa a peg and rings and a toy car. It separates parts from a heap, recognising them with an overhead camera, then assembles them by feel. It can be instructed to perform a new task with different parte by spending an hour… (More)
A program has been developed which takes a specification of a set of bodies and of spatial relations that are to hold between them in some goal state, and produces expressions denoting the positions of the bodies in the goal state together with residual equations linking the variables in these expressions.
We use a representation of 3-D bodies derived from that used by Lang and Braid . Body models are built up from two kinds of primitives: the half-space H, defined as the set of points and the i defined as the set of points _ Bodies are represented as boolean combinations of sets resulting from transformations of the (perhaps complemented) primitives by… (More)
The network reduction systen of RAPT, an offline object level language for programming robot assembly tasks is described in this paper. The task description is converted into a relational network with the positions of bodies as nodes, and rela tionships between positions as links. Rewrite rules based on the intersection and conposition of relations are… (More)
A computer-controlled versatile layout and assembly system has recently been programmed at the School of Artificial Intelligence, University of Edinburgh. The equipment used, locally known as Freddy, consists of a moveable table, a mechanical hand suspended over the table and two fixed TV cameras, all connected via an 8K Honeywell 316 to a timeshared 128K… (More)