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Proceedings Paper

Model-Based Hierarchical Diagnosis Of Robotic Assembly Cell
Author(s): C. N. Lee; M. Y. Chiu; P. Liu; S. J. Clark
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Paper Abstract

Robotic assembly cell is a hierarchically designed artifact for certain automatic assembly. Diagnosis of a robotic assembly cell requires failure recognition, cell representation, and reasoning. This paper describes robot cell representation and model-based causal reasoning for diagnosis. The robotic assembly cell is characterized by the assembly operations and the physical environments. The assembly operations are modeled as asynchronous parallel processes and the physical environments are modeled as functional device units. A layered causal network is constructed to represent the causal relations of the robotic assembly cell and the model-based causal reasoning is performed for cell diagnosis with the aids of hierarchical reasoners. This approach can be applied easily to an existing robot cell and is not limited to any cell design architecture.

Paper Details

Date Published: 19 February 1988
PDF: 8 pages
Proc. SPIE 0848, Intelligent Robots and Computer Vision VI, (19 February 1988); doi: 10.1117/12.942735
Show Author Affiliations
C. N. Lee, Siemens Corporate Research and Support, Inc. (United States)
M. Y. Chiu, Siemens Corporate Research and Support, Inc. (United States)
P. Liu, Siemens Corporate Research and Support, Inc. (United States)
S. J. Clark, Siemens Corporate Research and Support, Inc. (United States)


Published in SPIE Proceedings Vol. 0848:
Intelligent Robots and Computer Vision VI
David P. Casasent; Ernest L. Hall, Editor(s)

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