BIB-VERSION:: CS-TR-v2.0
          ID:: STAN//CS-TR-73-396
       ENTRY:: September 25, 1995
ORGANIZATION:: Stanford University, Department of Computer Science
       TITLE:: The use of sensory feedback in a programmable assembly
               system.
        TYPE:: Technical Report
      AUTHOR:: Bolles, Robert C.
      AUTHOR:: Paul, Richard P.
        DATE:: October 1973
       PAGES:: 27
    ABSTRACT:: This article describes an experimental, automated assembly
               system which uses sensory feedback to control an
               electro-mechanical arm and TV camera. Visual, tactile, and
               force feedback are used to improve positional information,
               guide manipulations, and perform inspections. The system has
               two phases: a 'planning' phase in which the computer is
               programmed to assemble some object, and a 'working' phase in
               which the computer controls the arm and TV camera in actually
               performing the assembly. The working phase is designed to be
               run on a mini-computer.

               The system has been used to assemble a water pump, consisting
               of a base, gasket, top, and six screws. This example is used
               to explain how the sensory data is incorporated into the
               control system. A movie showing the pump assembly is
               available from the Stanford Artificial Intelligence
               Laboratory.
       NOTES:: [Adminitrivia V1/Prg/19950925]
         END:: STAN//CS-TR-73-396