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An Experimental System for Computer Controlled Mechanical Assembly

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2 Author(s)
Will, P.M. ; Computer Sciences Department, IBM Thomas J. Watson Research Center ; Grossman, D.D.

This paper describes the software and hardware architecture of a system designed as a research tool for experiments on programming the computer controlled assembly of mechanical objects. The software consists of a real-time control level and a background level in which an on-line interpreter permits interactive programming. The hardware consists of a manipulator with sensory feedback coupled to an IBM System/7. Additional facilities are available through a link to an IBM System/370 Model 145. The application of the system to sample assemblies is also discussed.

Published in:

Computers, IEEE Transactions on  (Volume:C-24 ,  Issue: 9 )