Abstract
Development of an automated assembly system requires integration of different engineering modules and coordination of interactions between these modules. This paper presents some of the results of an effort in developing an assembly automation schene for an automated work cell. Integration of the control scheme with the vision module and an on-line trajectory planner is presented. Special characteristics of this automation scheme are dynamic integration of vision and feedback control, real-time operation, uncertainty compensation and error recovery. The hardware required for implementation of this scheme is described. Results of implementing this scheme on a PUMA robot performing a carburetor and gasket mating operation are presented.
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