An Experimental System for Computer Controlled Mechanical Assembly

This paper describes the software and hardware architecture of a system designed as a research tool for experiments on programming the computer controlled assembly of mechanical objects. The software consists of a real-time control level and a background level in which an on-line interpreter permits interactive programming. The hardware consists of a manipulator with sensory feedback coupled to an IBM System/7. Additional facilities are available through a link to an IBM System/370 Model 145. The application of the system to sample assemblies is also discussed.