Sensor fusion for automated assembly using an expert system shell

Abstract

The problem of integrating sensor information from force, tactile, proximity and vision sensors to control an industrial robot assembly cell is investigated. Progress of research using both algorithmic and knowledge-based methods for multi-sensor integration is reviewed. Results are presented for an electric motor assembly task that utilises a commercial expert system shell for knowledge-based sensor fusion.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>