This book deals with a key area of industrial robotics a the automation of small batch assembly. Assembly imparts enormous added value but turns out to be extraordinarily difficult to automate. The work presented here, all from the Centre for Intelligent Systems at the University of Wales, Aberystwyth, addresses this issue and shows ways in which the difficulties may be reduced through systematic architectural designs and specific structures for interfacing and controlling sensory-actuation systems. The book develops three main themes: a task-centred approach to robotic assembly, explicit reasoning techniques for fault diagnosis and error handling; and sensoraactuator integration methods. These are vital topics for those concerned with flexible automation and robotics.... 133 tactile subroutines, 155 task definition of, 223 description language, 47 errors, 9, 40 generic, 194, 196 high level, 3 programming, 194, ... 165-166, 186- 187 classes, 187 command language, 188 drift, 188, 191 dynamic scoping, 188 error codes, 189 event, 188, 189 health, ... 60 world model, 21 Xerox copier, 126 Index.
|Title||:||Intelligent Assembly Systems|
|Author||:||Mark H. Lee, J. J. Rowland|
|Publisher||:||World Scientific - 1995-01-01|