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.