A Knowledge-Based Robotic Assembly Cell

Kak, Avinash C.; Boyer, Kim L.; Chen, C. H.; Safranek, R.J.; Yang, Haoguang

doi:10.1109/mex.1986.5006501

Cited by 52 publications

(6 citation statements)

References 18 publications

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“…al. [44] outline the development of a knowledge based robotic assembly cell. This cell is used in the sensory guided part mating of three-dimensional objects.…”

Section: The Role Of Automated Packing In Industrial Systemsmentioning

confidence: 99%

Automated packing systems-a systems engineering approach

Whelan

Batchelor

1996

IEEE Trans. Syst., Man, Cybern. A

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Abstract-The ability to manipulate previously unseen objects under visual control is one of the key tasks in the successful implementation of robotic, automated assembly and adaptive material handling systems. The automation of such complex industrial environments will require the development of machine vision systems that are highly adaptable and capable of dealing with a wide range of variable products. An important group of applications of this type is found in the automated packing and nesting of arbitrary shapes. The aim of this work has been to produce an efficient packing strategy that is flexible enough for a wide variety of industrial uses and which can be implemented using fast moderately priced hardware. A systems approach, as distinct from a purely algorithmic one, has been deliberately adopted since the work is concerned with industrial vision applications in which significant problem constraints exist. This paper also outlines the background to this research, and reviews a selection of industrial packing applications.The packing procedure that has been devised, consists of two major components. The first is a geometric packing technique that is based on morphological image processing operations. This is used in conjunction with a Prolog based heuristic packing procedure. Some of the factors considered at the heuristic level include shape ordering and shape orientation, both of which must be carried out prior to the implementation of the geometric packer. The heuristic procedures deal with problem constraints that are specific to a given application.

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“…al. [44] outline the development of a knowledge based robotic assembly cell. This cell is used in the sensory guided part mating of three-dimensional objects.…”

Section: The Role Of Automated Packing In Industrial Systemsmentioning

confidence: 99%

Automated packing systems-a systems engineering approach

Whelan

Batchelor

1996

IEEE Trans. Syst., Man, Cybern. A

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“…Philip Chen (1991) tackles the problem of trying to find all the feasible assembly sequences for a set of n parts that construct a mechanical object. Kak et al (1986) outline the development of a knowledge based robotic assembly cell. This cell is used in the sensory guided part mating of three-dimensional objects.…”

Section: Packing Techniques In Industrial Systemsmentioning

confidence: 99%

<title>Automated packing systems: review of industrial implementations</title>

Whelan

Batchelor

1993

SPIE Proceedings

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The problems involved in the automated packing and nesting of irregular shapes are not only of theoretical importance, but have considerable industrial interest. The ability to manipulate objects under visual control is one of the key tasks in the successful implementation of robotic, automated assembly and adaptive material handling systems. Such systems must be capable of dealing with a wide range of variable products and of operating in industrial environments that are not overly constrained. These systems will need to include the ability to manipulate arbitrary shapes in a flexible manner. Therefore, to automate this part of the manufacturing process we need to develop automated material handling systems that combine machine vision techniques and flexible packing strategies.A rich theoretical background to the problems that occur in the automation of material handling can be found in operations research, production engineering, systems engineering and automation, more specifically machine vision, literature. This work has contributed towards the design of intelligent handling systems. This paper will review the application of these automated material handling and packing techniques to industrial problems. The discussion will also highlight the systems integration issues involved in these applications.An outline of one such industrial application, the automated placement of shape templates on to leather hides, is also discussed. The purpose of this system is to arrange shape templates on a leather hide in an efficient manner, so as to minimize the leather waste, before they are automatically cut from the hide. These pieces are used in the furniture and car manufacturing industries for the upholstery of high quality leather chairs and car seats. Currently this type of operation is semi-automated. The paper will outline the problems involved in the full automation of such a procedure.

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“…The feedback information and all the other time-varying data are stored in a specific data base, block G, called the current world model (this term has been used by Kak et al (1986)). The current world model describes completely the process at the SCL for the current task, and keeps track of previous tasks solved by the SCL.…”

Section: Strategic Control Levelmentioning

confidence: 99%

A knowledge-based system for the strategic control level of robots in flexible manufacturing cells

Devedžić

1990

Int J Flex Manuf Syst

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The strategic control level synthesis for robots is related to a hierarchical robot control problem. The main control problem at the strategic control level is to select the model and algorithm to be used by the lower control level to execute the given robot task. Usually there are several lower control level models and algorithms that can be used by the robot control system for every robot task. Strategic control level synthesis depends on the particular robot system application. In a typical application, when the robot system is used in a flexible manufacturing system for manipulating various part types, the robot tasks executed by the robot system depend on the manufacturing processes in the system. If the robot system is applied in another flexible manufacturing system, dedicated to other manufacturing processes, another set of robot tasks might be needed to perform the necessary operations. Therefore, the quantity and the kind of knowledge required in the system for the strategic control level differ from one application to another. Such a fact creates the appropriate conditions for employing some artificial intelligence techniques. This article describes a knowledge-based system approach to the strategic control level synthesis problem.

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A Knowledge-Based Robotic Assembly Cell

Cited by 52 publications

References 18 publications

Automated packing systems-a systems engineering approach

Automated packing systems-a systems engineering approach

<title>Automated packing systems: review of industrial implementations</title>

A knowledge-based system for the strategic control level of robots in flexible manufacturing cells

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