R.J. Popplestone, A.P. Ambler and I. Bellos
In the paper we describe a language for instructing assembly robots. This language has been implemented in an experi‐mental form on the DEC system 10 computer at Edinburgh. Since…
Abstract
In the paper we describe a language for instructing assembly robots. This language has been implemented in an experi‐mental form on the DEC system 10 computer at Edinburgh. Since assembly robots resemble numerically controlled machine tools, we chose to use the APT language as the syntactic basis for the new language so that people accustomed to numerical control could readily adapt to it. We shall refer to this language as RAPT ‐ (Robot APT). It should be noted that the syntactic and semantic components of RAPT are sufficiently independent for other syntactic conventions to be used with the RAPT semantic interpreter.
W.B. Heginbotham, A. Pugh, D.W. Gatehouse and D. Law
The realisation of a practical generally versatile variable product assembly machine is still far from reality. However, in the same way that a generation 1 Industrial Robot can…
Abstract
The realisation of a practical generally versatile variable product assembly machine is still far from reality. However, in the same way that a generation 1 Industrial Robot can achieve high levels of versatility within certain restricted activities e. g. paint spraying ‐ spot welding etc., then by the correct choice of product and product design high levels of versatility can be achieved with assembly machines.
Three themes in complex information processing are revealing themselves to be mutually interconnected: problem‐solving mechanisms, automatic program writing, and the organization…
Abstract
Three themes in complex information processing are revealing themselves to be mutually interconnected: problem‐solving mechanisms, automatic program writing, and the organization of large bodies of knowledge in machine memory. Interconnections are discussed in the contexts of chess and of automatic assembly. Reference is also made to automated chemistry systems.
M.V.A. Raju Bahubalendruni, Anil Gulivindala, Manish Kumar, Bibhuti Bhusan Biswal and Lakshumu Naidu Annepu
The purpose of this paper is to develop an efficient hybrid method that can collectively address assembly sequence generation (ASG) and exploded view generation (EVG) problem…
Abstract
Purpose
The purpose of this paper is to develop an efficient hybrid method that can collectively address assembly sequence generation (ASG) and exploded view generation (EVG) problem effectively. ASG is an act of finding feasible collision free movement of components of a mechanical product in accordance with the assembly design. Although the execution of ASG is complex and time-consuming in calculation, it is highly essential for efficient manufacturing process. Because of numerous limitations of the ASG algorithms, a definite method is still unavailable in the computer-aided design (CAD) software, and therefore the explosion of the product is not found to be in accordance with any feasible disassembly sequence (disassembly sequence is reverse progression of assembly sequence). The existing EVG algorithms in the CAD software result in visualization of the entire constituent parts of the product over single screen without taking into consideration the feasible order of assembly operations; thus, it becomes necessary to formulate an algorithm which effectively solves ASG and EVG problem in conjugation. This requirement has also been documented as standard in the “General Information Concerning Patents: 1.84 Standards for drawings” in the United States Patent and Trademark office (2005) which states that the exploded view created for any product should show the relationship or order of assembly of various parts that are permissible.
Design/methodology/approach
In this paper, a unique ASG method has been proposed and is further extended for EVG. The ASG follows a deterministic approach to avoid redundant data collection and calculation. The proposed method is effectively applied on products which require such feasible paths of disassembly other than canonical directions.
Findings
The method is capable of organizing the assembly operations as linear or parallel progression of assembly such that the assembly task is completed in minimum number of stages. This result is further taken for EVG and is found to be proven effective.
Originality/value
Assembly sequence planning (ASP) is performed most of the times considering the geometric feasibility along canonical axes without considering parallel possibility of assembly operations. In this paper, the proposed method is robust to address this issue. Exploded view generation considering feasible ASP is also one of the novel approaches illustrated in this paper.
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Keywords
Djamel Falek and Michel Parent
Programming languages for robots fall into three category levels — manipulation, object and task. The language described has the capability for extension to the highest level and…
Abstract
Programming languages for robots fall into three category levels — manipulation, object and task. The language described has the capability for extension to the highest level and is proposed as a research tool for developing new languages and programming methods.
John H. Andreae and Bruce A. MacDonald
Mobile robots with dextrous hands and sophisticated sensory systems will require intelligent, knowledge‐based, expert controllers. A design is developed for a robot controller…
Abstract
Mobile robots with dextrous hands and sophisticated sensory systems will require intelligent, knowledge‐based, expert controllers. A design is developed for a robot controller which can acquire task knowledge as it interacts in the world with its human users. The design is based on four reasonable assumptions which lead to a theoretical framework for robot learning systems. The framework is called a multiple‐context learning system. It is a production system with multiple templates for forming productions as the system interacts with the world. Elaborations of the framework and experimental tests of the system are discussed.
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This thesis concerns with a computer‐controlled assembly system using a robot. The system performs simple assemblies, determines the three dimensional position and orientation of…
Abstract
This thesis concerns with a computer‐controlled assembly system using a robot. The system performs simple assemblies, determines the three dimensional position and orientation of parts which are supplied one by one, grasps the part from its respective appropriate direction, and inserts it into the other part.
The design of vision algorithms for industrial applications is often considered to be an artform. In this article Roy Davies demonstrates that it can be a science.
A. Pugh, W.B. Heginbotham and C.J. Page
A simple, parallel‐mode tactile transducer for extracting three‐dimensional digital representations of complex engineering components is proposed. In addition, algorithms for…
Abstract
A simple, parallel‐mode tactile transducer for extracting three‐dimensional digital representations of complex engineering components is proposed. In addition, algorithms for computer processing of the tactile information to produce a compact structural description of the scrutinised object are evolved. The possibility exists that these techniques might be applied to future generations of robot devices with sensory feedback.
A central problem of industrial robotics today is the development of systems for real‐world automatic assembly operations. Research groups in the US, UK, and Japan are currently…
Abstract
A central problem of industrial robotics today is the development of systems for real‐world automatic assembly operations. Research groups in the US, UK, and Japan are currently taking a systems approach to computer‐controlled manipulation and are emphasizing hand/sensor/assembly‐task interactions. This paper surveys memory + sensory control prototypes and eye‐hand coordination prototypes at IBM, University of Nottingham, Hitachi, and Mitsubishi.