Visual feedback has traditionally been used in the assembly process to a very limited extent. By incorporating high bandwidth visual feedback into the manipulator feedback loop, more flexible and adaptable robotic assembly systems can be developed. The authors present experimentally tested algorithms and propose solutions for the problem of dynamic sensor placement in assembly tasks.
Bibliographical noteFunding Information:
Brad Nelson was supported in part by a National Defense Science and Engineering Graduate Fellowship through the US. Army Research Office through Grant Number DAAL03-91-G-0272 and by Sandia National Laboratories through Contract Number AC-3752D. Nikos Papanikolopoulos was supported by the National Science Foundation through Contracts #IRI-9502245 and #IRI-9410003, the Center for Transportation Studies through Contract #USDOT/DTRS 93-G-0017-01, the Department of Energy (Sandia National Laboratories) through Contract #AL-3021, the 3M Corporation, the Army High Performance Computing Center, and the McKnight Land-Grant Professorship Program at the University of Minnesota. The views and conclusions contained in this document are those of the authors and should not be interpreted as representing the official policies, either expressed or implied, of the funding agencies.