Locating and Identifying Components in an tlu t o ma t i c Manu f ac t u1 r i n g Process

Development of a suitaible data structure This paper describes a system r'hat facilitates the identification and manipulation of components in an automatic manufacturing process (AMP). As a prerequisite to component identification and manipulation their location within the robot's workspace r,rZust be determined. In the system to be described, the location of objects is achieved by building a model of the workspace using information provided by sen:iors located wii'hin the robot's workspace. This model i,s then used to determine the location of components within the workspace. Acknowledgement The work documented in1 this paper was undertaken with the help and assistance of Dr Gillian Roberts who sadly died on August 17th 1994.