Referenced Items are not available for this document.
The design and operation of an experimental robot workstation that adaptively responds to a disordered or changing environment are presented. The adaptive control is provided by the use of several sensor subsystems in a distributed architecture workcell. Included in the workstation are a commercial 6-axis robot, a microprocessor-based vision subsystem, an acoustic-ranging sensor subsystem, and a force-torque sensing subsystem; each subsystem is microprocessor based, and supervisory control is provided by a workcell host computer. Five demonstrations of adaptive control are described, including real-time path modification by single sensors and integrated use of multiple sensors.
Published in:
Robotics and Automation. Proceedings. 1986 IEEE International Conference on
(Volume:3
)
Date of Conference: Apr 1986
- Page(s):
- 1947 - 1953
- Digital Object Identifier :
- 10.1109/ROBOT.1986.1087516
- Product Type:
- Conference Publications
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