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)
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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