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9 February 1989 Autonomous Manipulation Using A Multisensor Robotic Systems
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Proceedings Volume 1008, Expert Robots for Industrial Use; (1989)
Event: 1988 Cambridge Symposium on Advances in Intelligent Robotics Systems, 1988, Boston, MA, United States
At the core of a robotics system is the ability to acquire, inte-grate, and interpret multisensory data to generate appropriate actions in order to perform a given task. In this paper, we show the feasibility of a realistic autonomous manipulation task using multisensory information. The robotic system used here is a six-degree-of-freedom industrial robot to which we added a number of sensors: vision, range, sound, proximity, touch, force, and torque to enhance its inspection and manipulation capabilities. The cooperative use of sensors and the manipulation capabilities of this robotic system is shown through an experiment involving a task panel including a number of indicators (such as analog and digital meters), and controls (such as valves and push-buttons). The control of the robot, sensory data acquisition, processing, and interpretation, as well as global task supervision are performed by a dedicated VAX 11/785 computer using higher level languages. By integrating vision, range, proximity, touch, force, and torque sensors, many manipulation experiments are accomplished autonomously and successfully. The hardware and software modularity of this robotic system, the generic nature of its building blocks, as well as its reconfigurability make it an ideal tool for industrial multisensor robotic experimentation.
© (1989) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
M. A. Abidi and R. C. Gonzalez "Autonomous Manipulation Using A Multisensor Robotic Systems", Proc. SPIE 1008, Expert Robots for Industrial Use, (9 February 1989);

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