Abstract
An experimental intelligent assembly robot comprising two articulated robots and a vision system has been developed. The pilot system is capable of visual recognition of location and orientation of parts which are randomly placed, and of performing coordinated motions of two arms. A new robot mechanism in which various configuration of joints can be built from a basic model with six degrees of freedom has been developed. In order to carry out such advanced control of the robot as vision interaction and multi-robot coordination, a control technique employing hierarchical structure of two microprocessors has been applied. A new robot language has been developed for easy description of robot programs involving such advanced control. A vision system using a partial pattern matching technique has proven to be well suited for robot vision.
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