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A Multi-Sensor Distributed System for a Flexible Assembly Cell

  • Conference paper
Highly Redundant Sensing in Robotic Systems

Part of the book series: NATO ASI Series ((NATO ASI F,volume 58))

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Abstract

The use of multi-sensor based flexible assembly cells can increase substantially the scope of applications of manipulators in industry. This paper is concerned with the development of a general purpose assembly cell which can be used to evaluate the feasibility of automatic assembly of different products. The cell is built around a manipulator with six degrees of freedom, a conveyor belt and an assembly table. The sensorial system of the cell comprises real-time vision, gripper force and various detectors on the conveyor belt and assembly table. A simple and high performance distributed control structure enables the integration of redundant sensorial information and real-time path control.

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References

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Author information

Authors and Affiliations

  1. Departamento de Engenharia Electrotecnica, Universidade de Coimbra, 3000, Coimbra, Portugal

    A. de Almeida, H. Araujo, J. Dias, L. de Sa, M. Crisostomo, U. Nunes & V. Silva

Authors
  1. A. de Almeida
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  2. H. Araujo
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  3. J. Dias
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  4. L. de Sa
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  5. M. Crisostomo
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  6. U. Nunes
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  7. V. Silva
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Editor information

Editors and Affiliations

  1. Center for Information Research, University of Florida, 32611, Gainesville, Florida, USA

    Julius T. Tou

  2. Division of Engineering Cybernetics, Norwegian Institute of Technology, University of Trondheim, Trondheim, Norway

    Jens G. Balchen

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© 1990 Springer-Verlag Berlin Heidelberg

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de Almeida, A. et al. (1990). A Multi-Sensor Distributed System for a Flexible Assembly Cell. In: Tou, J.T., Balchen, J.G. (eds) Highly Redundant Sensing in Robotic Systems. NATO ASI Series, vol 58. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-84051-7_17

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  • DOI: https://doi.org/10.1007/978-3-642-84051-7_17

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-84053-1

  • Online ISBN: 978-3-642-84051-7

  • eBook Packages: Springer Book Archive

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