DocumentCode :
3251819
Title :
Motion planning for assembly mating operations
Author :
Gottschlich, S.N. ; Kak, A.C.
Author_Institution :
Sch. of Electr. Eng., Purdue Univ., West Lafayette, IN, USA
fYear :
1991
fDate :
9-11 Apr 1991
Firstpage :
1956
Abstract :
The authors introduce a planning system that relies on a novel approach which converts geometrical descriptions of assembly parts into potential field representations and then translates assembly operations into equivalent operations on the potential field representations. As a consequence, the system is able to quickly compute a path for the assembly motions and isolate those regions of the path where force/torque guided motions must be introduced to cope with possible collisions that may be caused by the prevailing uncertainties in the positions/orientations of the parts and their dimensions. This system has been experimentally verified using a Cincinnati Milacron T 3-726 robot to assemble a gear box
Keywords :
assembling; industrial robots; planning (artificial intelligence); position control; assembly mating operations; collision avoidance; force/torque guided motions; gear box assembly; geometrical descriptions; industrial robots; motion planning; potential field representations; Assembly systems; Error correction; Force feedback; Force sensors; Motion planning; Pistons; Robot vision systems; Robotic assembly; Torque; Uncertainty;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on
Conference_Location :
Sacramento, CA
Print_ISBN :
0-8186-2163-X
Type :
conf
DOI :
10.1109/ROBOT.1991.131913
Filename :
131913
Link To Document :
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