Showing papers on "Social robot published in 1979"

Work methods measurement—a comparison between robot and human task performance

Abstract: SUMMARY The industrial robot, already an accepted element in modern manufacturing, when coupled with sensors and controlled by a computer, is better modelled as an operator than as a machine. In this paper the basic characteristics of sensor controlled robots are defined : workspace, actuation, positioning, orientation, sensing and decision making. Actual values of these characteristics are given for the Stanford Arm running under the WAVE system. In order to compare a robot to a human operator we consider each of the task elements defined in an established methodology for human work analysis, method time measurement (MTM). We translate each of these work elements into robot program statements. From this comparison we find that a robot can be modelled as an operator but that a different set of work elements is appropriate. We develop a new methodology, which we call RTM (robot time and motion) and describe an actual robot assembly operation. The same assembly task is described using MTM for a human operat...

Teach - a concurrent robot control language

Abstract: Many groups have created robot control lan guages, but few have dealt with concurrency in a systematic way. This is surprising in view of the fact that a robot system can be much more cost effective if tasks are executed concurrently rather than serially. This paper describes the TEACH robot control language and its supporting operating system. It addresses concurrency, device independence, and other issues related to manipulator control, task specification, and system operation.

Human and Robot Task Performance

Abstract: The industrial robot, which might be viewed as a combination of a remote manipulator and a numerically controlled machine tool, is now an accepted element in manufacturing with some thousands of robots at work in the United States today. With the addition of task sensors (vision, force, and touch) and the decision making capabilities of digital computers a much greater range of tasks becomes possible for these devices.

Mobile robots for industrial use

Abstract: The free roving robot in the form of a computer controlled industrial truck is now technically possible. The use of small on‐board computers and navigation aids frees the robot from dependence on fixed route marking. Conventional vehicles such as fork lift trucks may be modified for autonomous or semi‐autonomous control.

A structured approach t robot programmtmg and teaching

Abstract: This paper describes a structured programming and teaching system for a robot manipuLator where stress is Laid on the consistent integration of programming and teaching. Tn the PAL programming system being developed at Purdue, tasks are represented in terms of structured Cartesian coordinates. Every motion statement is a request to position and orient the manipulator such that a position equation, representing a closed kinematic chain of homogeneous transformations, is satisfied. In the teaching process, the transformation which represents the position of the end of the manipulator is defined using the manipulator itself, and an equation relating any undefined transformations is obtained. By defining these equations during the interpretation of the task program and progressive by solving them, the task is taught. The method is applicabLe both to practical industrial robot control and to intelligent robot control.