Report Number: CS-TR-73-396
Institution: Stanford University, Department of Computer Science
Title: The use of sensory feedback in a programmable assembly
Author: Bolles, Robert C.
Author: Paul, Richard P.
Date: October 1973
Abstract: This article describes an experimental, automated assembly
system which uses sensory feedback to control an
electro-mechanical arm and TV camera. Visual, tactile, and
force feedback are used to improve positional information,
guide manipulations, and perform inspections. The system has
two phases: a 'planning' phase in which the computer is
programmed to assemble some object, and a 'working' phase in
which the computer controls the arm and TV camera in actually
performing the assembly. The working phase is designed to be
run on a mini-computer.
The system has been used to assemble a water pump, consisting
of a base, gasket, top, and six screws. This example is used
to explain how the sensory data is incorporated into the
control system. A movie showing the pump assembly is
available from the Stanford Artificial Intelligence