EXPERIMENTS FOR PLANNING ERROR-RECOVERY PROGRAM IN ROBOTIC WORK.

S. Y. Nof*, O. Z. Maimon, R. G. Wilhelm

*Corresponding author for this work

Research output: Contribution to conferencePaperpeer-review

3 Scopus citations

Abstract

Classification of typical errors encountered during robotic work is presented. Some of these errors may require development of recovery programs. A five-phase framework for planning effective and economic error-recovery programs in robotic work is described and illustrated through two laboratory experiments with an IBM RS/1 robot: mechanical assembly of a carburetor, and electronic assembly of a printed circuit board. A new concept of a recovery tree is suggested as a means of specifying and analysing alternative recovery strategies. The logic of a selected recovery tree can then be used as the basis for the analysis of the recovery effectiveness and for the development of recovery programs.

Original languageEnglish
Pages253-264
Number of pages12
StatePublished - 1987
Externally publishedYes

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