ROBOT CELL-CONTROL IN AN UNCERTAIN ENVIRONMENT USING CONSTRAINT MODELLING TECHNIQUES

Abstract

The paper reviews the latest advances in sensor data fusion technology indicating the importance of collecting sensor information as part of the robot cell- control strategy. The purpose of the review is to place in context a new model for a cell-controller based on constraint modelling techniques. The advantages of such a system, based on the RASOR programming language. and its relevance to practical applications are presented. A practical demonstrator for the cell controller is being created around the porblem of handling of food pieces by a robot gripper integrated with tactile sensors. This example will represent the various inaccuracies which can occur when a robot is required to work in uncertain enviroment.