Ann Patricia Fothergill

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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)
We use a representation of 3-D bodies derived from that used by Lang and Braid [3]. 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)
A versatile assembly system, usD~g TV cameras and computer.controlled arm and moving table, is described. It makes simple assemblles ~ as a peg a n d r o s and a to)/car. It separates parts from a leap, r e c o ~ i ~ them wtth an overlw~ camera, then assembles them by feel. I t can be Instructed to perform a new task with different ~ s by sl~nding an hour(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)
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