DocumentCode
2667653
Title
Haptic simulation of fixture loading planning
Author
Liu, Tonh ; Wang, Michael Yu
Author_Institution
Dept. of Autom. & Comput. Eng., Chinese Univ. of Hong Kong, Shatin
fYear
0
fDate
0-0 0
Firstpage
190
Lastpage
194
Abstract
The paper presents a haptic-guided fixture loading planning system. The system consists three parts, a multi-body contact dynamics solver based on time-stepping, and Gauss-Seidel method, a planning scheme based on a criteria of non-jamming condition that can monotonously increase the contacts with locators, and a haptic simulation system
Keywords
position control; robot dynamics; Gauss-Seidel method; haptic simulation system; haptic-guided fixture loading planning system; multi-body contact dynamics solver; Computational modeling; Fixtures; Gaussian processes; Haptic interfaces; Jamming; Manipulators; Motion planning; Robotic assembly; Robotics and automation; Trajectory;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Biomimetics (ROBIO). 2005 IEEE International Conference on
Conference_Location
Shatin
Print_ISBN
0-7803-9315-5
Type
conf
DOI
10.1109/ROBIO.2005.246261
Filename
1708620
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