THIS PAPER SEEKS TO ADDRESS THE TASK OF ACHIEVING FEATURE REASONING, IN REAL TIME, USING SENSORS MADE OF ULTRASONIC DISTANCE RANGING DEVICES AND VISION CIRCUITS IMPLEMENTED AS AN INTERRUPTER MODULE, FOR PURPOSES OF AUTOMATIC GRASPING, IN AN ASSEMBLY OPERATION. THE INFORMATION FROM THE SENSOR SYSTEM IS INTENDED TO BE COMBINED WITH INFORMATION FROM A CAD-BASED STATIC WORLD MODELLED DATABASE AND USED TO EXTRACT SUCH GEOMETRICAL INFORMATION AS CONVEX HULL, PROFILE, AND FEATURES, FROM A WORKPIECE FOR PURPOSES OF PLANNING A GRASP AT A POINT SUITABLE FOR THE ACCOMPLISHMENT OF AN ASSEMBLY TASK.
| Number of Pages : | 12 |
| Published : | 06/01/1994 |
