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|Title: ||Plethora : a framework for the intelligent control of robotic assembly systems|
|Authors: ||Sillitoe, Ian P.W.|
|Issue Date: ||1992|
|Publisher: ||© I.P.W Sillitoe|
|Description: ||A Doctoral Thesis. Submitted in partial fulfilment of the requirements for the award of Doctor of Philosophy of Loughborough University.|
|Sponsor: ||The thesis describes a distributed software environment designed for the
development, evaluation and comparison of new techniques in knowledge based
control of robot assembly work cells. It has characteristics which fulfil deficiencies
within previous systems and contains within it new techniques in task specification,
distributed control[1,2], object recognition[3,4] and path planning.
The control of the resources within the cell is based upon an extension of the
facilities of a classical blackboard architecture to include plan execution. Unlike
previous schemes, these additions allow Plethora to reason about the intent of an
action, the current state of the cell and asynchronous events within a single
framework. It is this seamless operation and extended representational adequacy that
allows Plethora to explore new techniques dealing with the uncertainty inherent in a
flexible work cell.
The task is specified in domain terms and interpreted to produce a partially
ordered set of goals. This new technique is based upon a two-stage ordering process
using constructional constraints and necessary collision avoidance.
Two new methods, one for object identification and the other for path
planning, have also been developed using the system. These have two advantages,
efficiency and the ability to operate on data from a vision system or Plethora's
geometric modeller. Both methods can be completed within the critical times typical
of an assembly work cell.
Finally, results of an experiment using the system on a laboratory work cell
illustrate how it encompasses previous techniques and can be used to develop new
techniques not possible with earlier architectures.|
|Appears in Collections:||PhD Theses (Mechanical, Electrical and Manufacturing Engineering)|
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