Multi-sensor integration for robotic assembly

Traditional robotic assembly makes little use of sensing and as a result is vulnerable to changes in the working environment. The aim of providing richer sensory input is to provide run-time knowledge about the environment and hence enable robots to deal with a greater degree of indeterminacy and to respond to error situations. The work described is in the context of a flexible multi-robot multi-sensor assembly cell being developed within the Intelligent Automation Laboratory at Heriot-Watt University. The cell makes use of two industrial robots, a number of cameras, a laser striper and various touch and force sensing devices