By Topic

On replanning for assembly tasks using robots in the presence of uncertainties

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Jing Xiao ; Div. of Robot Syst., Michigan Univ., Ann Arbor, MI, USA ; Volz, R.A.

High-precision assembly tasks cannot be successfully done by robots without taking into account the uncertainties that can cause failure of robot motion. The authors address this problem by planning robot motions at two levels: nominal planning, which assumes no uncertainty, and dynamic replanning, to deal with uncertainties that would cause nominal plans to fail. They introduce a replanning approach based on knowledge of contacts among assembly parts. It consists of patch planning to resolve the case when a commanded robot motion prematurely stops at a contact other than those planned, and motion strategy planning, to regulate robot motions in order to guarantee the eventual success of a task. A task-independent strategy for patch-plan generation based on concepts of contact planes and abstract obstacles is developed. It is also shown how to apply motion strategies so that, under proper design and motion constraints, the replanning can be guaranteed to succeed

Published in:

Robotics and Automation, 1989. Proceedings., 1989 IEEE International Conference on

Date of Conference:

14-19 May 1989