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Proceedings Paper

Frame Representation Of Assembly Operations In Sensor-Based Robotic Electronic Assembly
Author(s): Juha Roning; Paavo Karkkainen; Matti Vilmi; Urpo Niemela
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Paper Abstract

In this paper we will focus on the problems encountered in the precision assembly of electronic components on printed circuit boards (PCB). A pilot assembly cell has been constructed which is provided with sensory integration and sensory data processing capabilities. Various sensors, such as vision and small fiber-optic sensors distributed in suitable places of the system, have been used in environmental detection and monitoring. Two principles have been used to solve the assembly problem: the problem division into subproblems using object-oriented structure, and applying goal-driven, hierarchically divided assembly operations. The task performance of the assembly system is divided into the following main blocks: Knowledge base, Assembly planning, Blackboard and Task control and monitoring. The knowledge base comprises the assembly data generated for the PCB during CAD phase, e.g. hole positions and types of components to be assembled. The CAD data is completed with descriptions of components and environment and data for assembly operations. During the design phase of the assembly, detailed primitive operations and assembly sequence are generated. The primitive operations include handling of the sensor information connected to movement and action commands. The PCB based assembly sequence, component data and state of the assembly phase is maintained utilizing the blackboard principle. Frames are used in the system to describe peripheral devices, sensors, assembly components, and actions of the robotic cell.

Paper Details

Date Published: 9 February 1989
PDF: 9 pages
Proc. SPIE 1008, Expert Robots for Industrial Use, (9 February 1989); doi: 10.1117/12.949144
Show Author Affiliations
Juha Roning, University of Oulu (Finland)
Paavo Karkkainen, Technical Research Centre of Finland (Finland)
Matti Vilmi, University of Oulu (Finland)
Urpo Niemela, University of Oulu (Finland)

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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