Geometric Uncertainty in Off-Line Programming of Robot Manipulators for Assembly Tasks

[+] Author and Article Information
A. A. Goldenberg, F. J. McQuillan

Robotics and Automation Laboratory, Department of Mechanical Engineering, University of Toronto, Toronto, Ontario, Canada M5S 1A4

J. Dyn. Sys., Meas., Control 113(2), 329-334 (Jun 01, 1991) (6 pages) doi:10.1115/1.2896387 History: Received November 19, 1990; Online March 17, 2008


An approach to off-line programming of a robot system, in the presence of uncertainty in the location of the manipulator and objects in the workspace, has been developed. The approach is based on the concept of affixment tree. The approach involves the prediction and compensation of location errors, with the intent of automatically generating robot-executable programs based on information from task planning done on a CAD workstation. The off-line programming system has been implemented and successfully tested on parts assembly processes using the IBM 7565 manipulator.

Copyright © 1991 by The American Society of Mechanical Engineers
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