A RISC Approach to Sensing and Manipulation

9319412 Canny该研究解决了在RISC（降低传感和控制的复杂性）范式中对简单机器人硬件的传感和操作策略的持续探索。作者和南加州大学的Ken Goldberg教授倡导的RISC机器人技术是一种融合自动化和机器人技术的尝试。它使用传统的自动化硬件，如平行爪爪和光束传感器，以及几何规划和传感算法，以实现更经济有效和可靠的操作，这些操作也易于设置和重新配置，并且足够灵活，可以支持小批量生产和未来灵活/敏捷制造系统所需的零件设计的快速变化。该研究将解决光束和其他传感器的模型构建算法，精确的模型获取，高速率识别，最小数量元素的抓取和固定，以及RISC工作单元元素的自动设计。RISC方法的有效性将通过一些具有挑战性的案例研究进行测试，首先是模型飞机发动机的装配程序。

9319412 Canny The research addresses continuing exploration of sensing and manipulation strategies for simple robot hardware, in the RISC (Reduced Intricacy in Sensing and Control) paradigm. RISC robotics, advocated by the author and Prof. Ken Goldberg of USC, is an attempt to fuse automation and robotic technologies. It uses traditional automation hardware such as parallel-jaw grippers and optical beam sensors, together with geometric planning and sensing algorithms, to accomplish more cost-effective and reliable operations that are also easy to set up and reconfigure, and flexible enough to support small batch sizes and rapid changes in part design needed in future flexible/agile manufacturing systems. The research will address model-building algorithms for optical beam and other sensors, accurate model acquisition, high-rate recognition, grasping and fixturing with minimal numbers of elements, and automatic design of RISC workcell elements. The effectiveness of the RISC approach will be tested with some challenging case studies, starting with an assembly program for a model-aircraft engine.