Report Number: CS-TR-76-568
Institution: Stanford University, Department of Computer Science
Title: Exploratory study of computer integrated assembly systems. Progress report 3, covering the period December 1, 1975 to July 31, 1976
Author: Binford, Thomas O.
Author: Grossman, David D.
Author: Liu, C. Richard
Author: Bolles, Robert C.
Author: Finkel, Raphael A.
Author: Mujtaba, M. Shahid
Author: Roderick, Michael D.
Author: Shimano, Bruce E.
Author: Taylor, Russell H.
Author: Goldman, Ronald H.
Author: Jarvis, J. Pitts, III
Author: Scheinman, Victor D.
Author: Gafford, Thomas A.
Date: August 1976
Abstract: The Computer Integrated Assembly Systems project is concerned with developing the software technology of programmable assembly devices, including computer controlled manipulators and vision systems. A complete hardware system has been implemented that includes manipulators with tactile sensors and TV cameras, tools, fixtures, and auxiliary devices, a dedicated minicomputer, and a time-shared large computer equipped with graphic display terminals. An advanced software system called AL has been developed that can be used to program assembly applications. Research currently underway includes refinement of AL, development of improved languages and interactive programming techniques for assembly and vision, extension of computer vision to areas which are currently infeasible, geometric modeling of objects and constraints, assembly simulation, control algorithms, and adaptive methods of calibration.