Title :
A replanning approach towards uncertainty handling in robot assembly
Author :
Xiao, Jing ; Volz, Richd A.
Author_Institution :
Robot Syst. Div., Michigan Univ., Ann Arbor, MI, USA
Abstract :
The authors introduce a replanning approach toward robot planning for assembly tasks by assuming the existence of a nominal robot motion plan and developing replanning strategies to handle failures due to uncertainties or errors. Specifically, they extend the concept of contact formations by defining contact planes and abstract obstacles, on the basis of which a patch-planning strategy is developed and evaluated; the strategy can generate patch-plans in real time to resolve unplanned contacts between the object being moved and its environment due to uncertainties and lead the object to its nominal goal. The authors also introduce motion strategy planning an constraints which are necessary to guarantee the success of a high-precision assembly task
Keywords :
assembling; industrial robots; position control; abstract obstacles; contact formations; contact planes; failure handling; nominal robot motion plan; patch-planning strategy; replanning approach; robot assembly; uncertainty handling; Assembly systems; Contacts; Control systems; Error correction; Motion control; Motion planning; Robot sensing systems; Robotic assembly; Robotics and automation; Uncertainty;
Conference_Titel :
Intelligent Control, 1988. Proceedings., IEEE International Symposium on
Conference_Location :
Arlington, VA
Print_ISBN :
0-8186-2012-9
DOI :
10.1109/ISIC.1988.65451