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Proceedings Paper

Autonomous Manipulation Using A Multisensor Robotic Systems
Author(s): M. A. Abidi; R. C. Gonzalez
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Paper Abstract

At the core of a robotics system is the ability to acquire, inte-grate, and interpret multisensory data to generate appropriate actions in order to perform a given task. In this paper, we show the feasibility of a realistic autonomous manipulation task using multisensory information. The robotic system used here is a six-degree-of-freedom industrial robot to which we added a number of sensors: vision, range, sound, proximity, touch, force, and torque to enhance its inspection and manipulation capabilities. The cooperative use of sensors and the manipulation capabilities of this robotic system is shown through an experiment involving a task panel including a number of indicators (such as analog and digital meters), and controls (such as valves and push-buttons). The control of the robot, sensory data acquisition, processing, and interpretation, as well as global task supervision are performed by a dedicated VAX 11/785 computer using higher level languages. By integrating vision, range, proximity, touch, force, and torque sensors, many manipulation experiments are accomplished autonomously and successfully. The hardware and software modularity of this robotic system, the generic nature of its building blocks, as well as its reconfigurability make it an ideal tool for industrial multisensor robotic experimentation.

Paper Details

Date Published: 9 February 1989
PDF: 10 pages
Proc. SPIE 1008, Expert Robots for Industrial Use, (9 February 1989); doi: 10.1117/12.949127
Show Author Affiliations
M. A. Abidi, University of Tennessee (United States)
R. C. Gonzalez, University of Tennessee & Perceptics Corporation (United States)


Published in SPIE Proceedings Vol. 1008:
Expert Robots for Industrial Use
David P. Casasent; Ernest L. Hall; Kenneth J. Stout, Editor(s)

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