Integrated sensor based robot system

This paper describes the work of the ESPRIT 278 project which is concerned with the development of an integrated sensor based (tactile + vision) robot system capable of intelligent action within the area of workpiece positioning and orientation, an important class of manufacturing problem. A vision system is used to provide an initial estimate of workpiece position and orientation which allows the robot to grasp the object. During the grasping phase, the tactile sensor confirms, modifies or improves the initial information provided by the vision system. The project is now midway and the integrated first generation components show satisfactory performance.