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∂02-Jul-81  1638	MSM  
FLASHLIGHT FACTORY

AL is a high level interactive
manipulator programming system used for moving mechanical arms in the
assembly of objects at the Stanford Artificial Intelligence Laboratory.

This film shows AL being used for programming the blue
Scheinman Stanford arm to assemble flashlights making use of touch and force
sensing.
The parts of the flashlight are laid out on the
the table in various gravity feeders and pallets, and final assembly is
performed on a special workstation which has a high friction surface.

The location of each part is found by moving the arm manually to the
part and instructing the arm to adaptively grasp it.
The correctness of the location is verified by acquiring the part from that
location several times.
Then a series of subroutines are built up that perform various tasks in the
assembly of the flashlight, and these are tested out.
During this process, forces acting on the arm are monitored  by the force
sensor in the wrist to
detect when parts make contact, and compliance is used for insertion
and parts mating.
Finally the arm puts togther two complete flashlight assemblies,
using a socket driver to screw the bulb retainer into the lens.

(This film was directed by
M. Shahid Mujtaba and Ken Salisbury.  It's 16mm color with sound,
runs approximately 10 minutes, and was produced in 1979.)}

Alternatively,  prints may  be purchased  at cost  (typically  $\$40$ to
$\$200$).  This is handled by individual arrangement.  Contact the 
Publications Coordinator (Stanford Department of Computer Science) directly
if you are interested in purchasing any of these films.
%from: Monaco Laboratories (phone: ???????)

 ∂02-Jul-81  1518	MAS  
\bpar{{\ic Pointy - an Interactive System for Assembly}
POINTY is  an interactive programming  system that uses  a mechanical
ma\-nip\-u\-lator  as  a  measuring  tool  to  determine  the  position and
orientation of various parts  laid out in a work  station.  Positions
may be determined precisely by means of a sharp pointed tool  held in
the manipulator hand, or by using the finger touch sensors and moving
the  arm to  the  desired points  either manually  or  under computer
control.  Arbitrary orientations may be determined from  the location
of three points.  The data generated may be referred to symbolically,
so that the programmer is freed from having to think in terms  of the
numerical vlues of object locations.  The data is saved in a computer
file for later use in a program to assemble the parts.

This film illustrates the  use of POINTY instructions to  collect the
poisition data of two parts of a water valve assembly.  It  shows the
use  of  multiple  points to  determine  orientations,  the procedure
followed to obtain the data, and how the programmer may refer  to the
data symbolically.   Finally, the arm  is shown putting  together the
water valve assembly.
(This film was done by
M. Shahid Mujtaba and Ken Salisbury.  It's 16mm color with sound,
runs approximately 10 minutes, and was produced in 1979.)}

(This film was done by
M. Shahid Mujtaba and Ken Salisbury.  It's 16mm color with sound,
runs approximately 10 minutes, and was produced in 1979.)}

Alternatively,  prints may  be purchased  at cost  (typically  $\$40$ to
$\$200$).  This is handled by individual arrangement.  Contact the 
Publications Coordinator (Stanford Department of Computer Science) directly
if you are interested in purchasing any of these films.
%from: Photo Tech Laboratories (phone: 213/462-5457).

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