Tatsuo Goto

A Prototype Intelligent Robot that Assembles Objects from Plan Drawings

An intelligent robot that recognizes and assembles three-dimensional objects by means of vidicon cameras, an articulated mechanical hand, and a digital computer is described. Its problem-solving functions include three essential parts: the recognition of macro-instructions from a human master, the recognition of the objects to be handled, and the decision making for executing the necessary tasks. The instruction is in the form of a three-view plan of a simple polyhedral assemblage whose overall spatial configuration is recognized together with its component parts. In this process the set of planes of the assemblage is disassembled into open shells; these are then reconstructed into closed shells to find the parts by solving a linear equation where the shell vectors are taken into consideration. In the object recognition, all the geometric features of polygonal prisms in the field of vision are extracted to find the specific parts required for the assembly. Further computation is made to search for the assembly procedure and is based on the restraint vectors of each object and consequent disassembly free. Finally, the mechanical hand starts the autonomous manipulation of the parts so as to accomplish the assigned assembly.

Current Status and Future of Intelligent Industrial Robots

This paper reviews the current status of industrial robots and discusses their future from the viewpoint of the basic key functions which will be required for future intelligent applications. Ten basic key functions are introduced as examples which satisfy the following four conditions: 1) low price, 2) high performance, 3) high reliability, and 4) simplicity. All of these functions are necessary if robots are to perform tasks more effectively in actual applications. The effectiveness of the functions are explained using ten industrial robots or robotic machines which have been developed by Hitachi.