TOWARDS INTELLIGENT ROBOTIC ASSEMBLIES

• Type: Article in International Scientific Journal
• Date: 1992

Authors

ramos, c (Author) Other; oliveira, e (Author) FEUP

Journal

Title: Lecture Notes in Computer Science

Vol. 11

Pages: 361-370

ISSN: 0302-9743

Publisher: Springer Nature

Indexing

ISI Web of Knowledge - 0 Citations

Scientific classification

FOS: Natural sciences > Computer and information sciences

Other information

Authenticus ID: P-001-Q40

Abstract (EN): The aim of our work is the implementation of an Intelligent Robotic System able to deal with assembly tasks. The efficiency of our approach is mainly due to the choice of good heuristics and the early pruning of unnecessary paths in the planning search tree. Once generated, the high level plan is translated into robot instructions. At this level, some intelligence is needed to guarantee the feasibility of the robot actions. This is the case of object grasping, regrasping to change from one stable position to another, geometric constraints analysis, collision avoidance and free space management. Some low level sensing operations have been introduced during task execution. It is possible to recover from very simple errors and deal with unexpected situations. The consideration of uncertainties, incomplete or incorrect descriptions of the current state of the objects is also envisaged.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 10