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Assembly of objects with not fully predefined shapesAn assembly problem in a non-deterministic environment, i.e., where parts to be assembled have unknown shape, size and location, is described. The only knowledge used by the robot to perform the assembly operation is given by a connectivity rule and geometrical constraints concerning parts. Once a set of geometrical features of parts has been extracted by a vision system, applying such a rule allows the dtermination of the composition sequence. A suitable sensory apparatus allows the control the whole operation.
Document ID
19900020543
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Arlotti, M. A. (IBM Italia Rome., United States)
Dimartino, V. (IBM Italia Rome., United States)
Date Acquired
September 6, 2013
Publication Date
January 31, 1989
Publication Information
Publication: JPL, California Inst. of Tech., Proceedings of the NASA Conference on Space Telerobotics, Volume 4
Subject Category
Man/System Technology And Life Support
Accession Number
90N29859
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.

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