A risc approach to sensing and manipulation

John F. Canny, Kenneth V. Goldberg
1995 Journal of Robotic Systems  
This paper is about sensing and manipulation strategies using simple, modular robot hardware. RISC robotics is an attempt to fuse automation and robotic technologies. It uses traditional automation hardware such as parallel-jaw grippers and optical beam sensors, together with geometric planning and sensing algorithms. RISC systems should be cost-e ective and reliable, and easy to setup and recon gure. They should also be exible enough to support small batch sizes and rapid changes in part
more » ... needed in forthcoming exible agile manufacturing systems. The RISC acronym, borrowed from computer architecture, suggests the parallels between the two technologies. RISC robots perform complex operations by composing simple elements. The elements may be individual light beam sensors, grouped together to form an array for recognition. Or a complex manipulation task may be performed via a sequence of grasp steps by di erent grippers specialized for acquisition and placement. This paper emphasizes three areas: i RISC sensing, primarily optical beam sensing ii RISC manipulation using simple parallel-jaw grippers or minimal congurations of ngers iii Computer-aided design of RISC workcells.
doi:10.1002/rob.4620120603 fatcat:4yc4ffrw6za5lc72awes7rwxmm