Title :
AMP-CAD: an assembly motion planning system
Author :
Gottschlich, S.N. ; Kak, A.C.
Author_Institution :
New York State Center for Adv. Technol. in Robotics & Autom., Rensselaer Polytech. Inst., Troy, NY, USA
Abstract :
The authors discuss a system, called AMP-CAD, which develops assembly motion plans using CAD models of parts. They place an emphasis on the calculation of the potential fields used for motion planning. Potential fields can be thought of as a mechanism to interface CAD representations with plan development. AMP-CAD is a complete system that combines an assembly representation, a two-phase motion planner, and a execution unit into a single integrated package. Implementation and experimental results are discussed
Keywords :
CAD/CAM; assembling; industrial robots; path planning; AMP-CAD; assembly motion planning system; assembly representation; execution unit; two-phase motion planner; Aggregates; Assembly systems; Fitting; Force control; Motion planning; Robotic assembly; Robotics and automation; Solid modeling; Torque control; Uncertainty;
Conference_Titel :
Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on
Conference_Location :
Nice
Print_ISBN :
0-8186-2720-4
DOI :
10.1109/ROBOT.1992.220111
