Proceedings PaperVision-Controlled Robotic Cell
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Development of an experimental robotic cell using machine vision sensory-feedback is reported. The cell contains a computer-controlled electric robot, a computer-controlled vision system, and a computer-controlled fabrication device. All of these components are under over-all control of a cell supervisory computer. Parts are recognized and their location determined to an accuracy of 5 mm for robot acquisition. Point-of-work vision to an accuracy of 0.2 mm is used for workpiece positioning and in-process inspection. Each of the individual cell components is controlled by dedicated software. Application programs which run in the cell supervisory computer exercise complete control over each of the individual cell components. Part-specific configuration data for vision and manipulation are accessed from a disc file or higher-level computer by the cell computer. The cell is being applied experimentally to drilling and riveting of aircraft parts.