This paper describes the initial phase of a project aiming to identify and define basic mechanisms for error recognition, diagnosis, interpretation and correction within the context of the control of collaborating robots forming an assembly cell. The integration of the logical and spatial control information derived from assembly plan and sensors is achieved through a knowledge-based framework. A practical demonstration of a composite assembly task has been chosen as a training set to focus the research.
|Number of pages
|International Journal of Production Research
|Published - Mar 1989