The University of Edinburgh -
Division of Informatics
Forrest Hill & 80 South Bridge

PhD Thesis #9219

Title:The Design and Implementation of Vision-Based Behavioural Modules for a Robotic Assembly System
Date: 1992
Abstract:The work described in this thesis is about how to program robots to work reliably in the presence of uncertainty. some architectural principles are proposed which address the problem of decomposing robotic assembly tasks into modular such that a robot program can be implemented efficiently, tested easily, and can be maintained or modified without undue complexity. This architecture also provides a framework to integrate sensors into a robotic assembly system. These modular units are called behavioural modules. They perform their tasks reliably. The problem of uncertainty is dealt with by encapsulating sensing and variation-reducing strategies inside these modules. Experiments are performed with a working robotic assembly system using vision-based behavioural modules. Analysis of this system validates the principles presented in this thesis.

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