The objective of this developmental effort is to determine the feasibility of developing a computer integrated robot work cell gaging finished parts or other assembly/machining operations. The focus of the research is to control the robot tool control point (tcp) through an adaptive feedback control system. The role of the feedback control system is to control and modify the path of the tcp to within 0.0005". The input to the robot work cell is via a post processor from an on-line CAD/CAM system. The computer integrated robot work cell is controlled by a hierarchical computer which controls the various sub-systems in the work cell e.g. CAD/CAM, robot, 3d vision sensor and a lighting system, tool control point, grippers, tool feeding carrousels, material control systems e.g. A.G.V's.
