| EPSRC Reference: |
GR/J94372/01 |
| Title: |
A ROBOT SYSTEM THAT PERFORMS ASSEMBLY IN TERMS OF TASK-INVARIANT TOPOLOGICAL RELATIONSHIPS |
| Principal Investigator: |
Malcolm, Mr C |
| Other Investigators: |
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| Department: |
Artificial Intelligence |
| Organisation: |
University of Edinburgh |
| Scheme: |
Standard Research (Pre-FEC) |
| Starts: |
04 November 1993 |
Ends: |
03 November 1994 |
Value (£): |
50,413
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| EPSRC Research Topic Classifications: |
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| EPSRC Industrial Sector Classifications: |
| Aerospace, Defence and Marine |
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Summary on Grant Application Form |
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We identify the main reason that robots have failed to find widespread use in assembly tasks as their susceptibility to spatial uncertainty, and claim that this is due to that fact that they are position controlled devices. We propose to show that by giving up position control and controlling instead the transitions between topologically equivalent contact relationships between objects that it is possible to make the operation of assembly robots more robust and reliable. In addition, the assembly strategies derived are task-invariant, i.e. they apply to all instances of a task irrespective of part size or location. This facilitates the raising of the level of abstraction at which robots are programmed, thereby simplifying their use.
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Key Findings |
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This information can now be found on Gateway to Research (GtR) http://gtr.rcuk.ac.uk
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Potential use in non-academic contexts |
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This information can now be found on Gateway to Research (GtR) http://gtr.rcuk.ac.uk
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Impacts |
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| Description |
This information can now be found on Gateway to Research (GtR) http://gtr.rcuk.ac.uk |
| Summary |
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| Date Materialised |
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Sectors submitted by the Researcher |
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This information can now be found on Gateway to Research (GtR) http://gtr.rcuk.ac.uk
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| Project URL: |
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| Further Information: |
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| Organisation Website: |
http://www.ed.ac.uk |