An integrated control and error interpretation system for collaborating robots

Abstract

This paper describes the initial phase o a project aiming to identify and define basic mechanisms for error recognition, diagnosis, interpretation and correction within the context of the control of collaborating robots forming an assembly cell. The integration of the logical and spatial control information derived from assembly plan and sensors is achieved through a knowledge-based framework. A practical demonstration of a composite assembly task has been chosen as a training set to focus the research. © 1989 Taylor & Francis Group, LLC.