A Multi-Sensor Distributed System for a Flexible Assembly Cell

The use of multi-sensor based flexible assembly cells can increase substantially the scope of applications of manipulators in industry. This paper is concerned with the development of a general purpose assembly cell which can be used to evaluate the feasibility of automatic assembly of different products. The cell is built around a manipulator with six degrees of freedom, a conveyor belt and an assembly table. The sensorial system of the cell comprises real-time vision, gripper force and various detectors on the conveyor belt and assembly table. A simple and high performance distributed control structure enables the integration of redundant sensorial information and real-time path control.