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Proceedings. IEEE International Symposium on Assembly and Task Planning

10-11 Aug. 1995

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  • Proceedings. IEEE International Symposium on Assembly and Task Planning

    Publication Year: 1995
    Request permission for commercial reuse | PDF file iconPDF (275 KB)
    Freely Available from IEEE
  • Features modeling in assembly sequence and resource planning

    Publication Year: 1995, Page(s):232 - 237
    Cited by:  Papers (5)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (561 KB)

    The assembly sequence and resources are among the key elements towards the design-manufacturing-assembly integration process within a concurrent engineering context. The product model is subdivided into three submodels: the physical submodel of liaisons, the geometric submodel of components, and the technological submodel of operations. A geometric submodel of the components is used. A technologic... View full abstract»

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  • On assembly sequence planning using Petri nets

    Publication Year: 1995, Page(s):239 - 244
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (645 KB)

    Petri nets have been proposed as a suitable tool for expressing precedence constraints and computing assembly sequences. Motivations for using Petri nets stem from their clear and well-defined semantics as well as from the formal analysis tools and techniques available. In this paper the operation and properties of Petri net models representing assembly plans are reconnected to the fundamental pro... View full abstract»

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  • Generation of assembly sequences with ternary operations

    Publication Year: 1995, Page(s):245 - 249
    Cited by:  Papers (6)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (504 KB)

    This paper describes a method for the generation of assembly sequences with ternary operations. While most assembly sequences planners deal with sequences where the operations mate two parts, we propose a method that generate sequences with ternary operations, that assemble simultaneously three parts. This method examines first the situations where a ternary operation is more efficient than two bi... View full abstract»

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  • Hierarchical control of flexible assembly systems for product families using object oriented Petri nets

    Publication Year: 1995, Page(s):280 - 285
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (912 KB)

    This paper is a logical pursuit of our investigations in modelling and control research of flexible assembly systems with object oriented Petri nets. In our previous work (1993), we presented a methodology of operating process control which concerns subassemblies. The subassembly management included input generic planning of product families and output product families. We also developed a method ... View full abstract»

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  • An active prediction, planning and execution system for interception of moving objects

    Publication Year: 1995, Page(s):347 - 352
    Cited by:  Papers (6)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (608 KB)

    An active prediction, planning and execution approach to object interception is applied to the problem of catching a moving object. The object motion cannot be accurately predicted into the future necessitating active path replanning. Unlike the APPE systems reported in the literature, which at best can select a rendezvous-point amongst a few non-optimal interception points, the proposed APPE syst... View full abstract»

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  • Author index

    Publication Year: 1995
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    Freely Available from IEEE
  • On manipulation planning

    Publication Year: 1995, Page(s):67 - 72
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (584 KB)

    An emerging paradigm in solving the classical motion planning problem (among static obstacles) is to capture the connectivity of the configuration space using a finite (but possibly large) set of landmarks (or nodes) in it. In this paper, the authors extend this paradigm to manipulation planning problem, where the goal is to plan the motion of a robot so that it can move a given object from an ini... View full abstract»

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  • A geometric simulator SimRep for testing the replanning approach toward assembly motions in the presence of uncertainties

    Publication Year: 1995, Page(s):171 - 177
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (560 KB)

    High-precision assembly tasks cannot be successfully done by robots without taking into account the effect of uncertainties. Often a robot motion may fail and result in some unintended contact between the part held by the robot and the environment. To automatically recover a task from such a failure and to ensure its success in spite of uncertainties, Xiao et al. introduced a systematic replanning... View full abstract»

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  • A cellular automata representation for assembly simulation and sequence generation

    Publication Year: 1995, Page(s):56 - 65
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1140 KB)

    Cellular automata are used to represent physical objects and their interactions for the purpose of planning the assembly process of several parts. Cells assume a vector value, made up of a material/void indicator, a set of cell boundary edge states, and an indicator of the allowable motion direction of the cell. Sets of rules that recognize parts and deduce allowable motions are described. An algo... View full abstract»

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  • Fixture loading with sensor-based motion plans

    Publication Year: 1995, Page(s):362 - 367
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (608 KB)

    By necessity, the clearance between fixtures and the parts they hold is small. When loading is performed by a robot, uncertainty in the initial position and orientation of the part and uncertainty in robot velocity as the part is moved make it a challenge to reliably and repeatedly load parts into fixtures. The “3-2-1” approach to fixture loading is well-known in industry: load the par... View full abstract»

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  • An anthropomorphic binocular-vision planning for grasping parts by robots

    Publication Year: 1995, Page(s):194 - 199
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (588 KB)

    Sensor planning by active vision having anthropomorphic features such as binocularity, foveas, and gaze control is proposed. The objective of the vision is to provide robots with the pose information of an adequate object to be grasped by the robots. For this, the paper describes the following: a viewer-oriented fixation point frame and its calibration; active motion and gaze control of the sensor... View full abstract»

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  • A computer assisted process planning system based on optimization criteria compromises

    Publication Year: 1995, Page(s):101 - 106
    Cited by:  Patents (5)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (420 KB)

    A high level process planning methodology has been formalized and implemented in an expert system with algorithmic kernels. An integrated sequencing and set-up selection approach based on precedence constraints and optimization criteria was developed. The system is designed so that the user follows the different steps of the process plan generation, and interacts, if needed, in the decision-making... View full abstract»

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  • Fixturing faceted parts with seven modular struts

    Publication Year: 1995, Page(s):133 - 139
    Cited by:  Papers (15)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1000 KB)

    Building on results in modular fixturing of 2D parts, this paper describes a new approach to fixturing 3D parts for assembly or inspection using a particularly simple set of modular elements. The approach uses seven modular struts mounted on a regular lattice of sockets embedded in a rectangular frame. Each strut extends normal to a contact surface on the part so that only compressive forces are r... View full abstract»

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  • Task planning and project management using Petri nets

    Publication Year: 1995, Page(s):265 - 271
    Cited by:  Papers (5)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (676 KB)

    The demand for effective project management increases as the complexity and cost of a project grown. This paper introduces an interactive project management approach based on the Petri net to overcome the limitations of network diagrams. In the Petri net based approach, the project manager does fine tuning of the planning and scheduling with the resource constraints embedded in the plan representa... View full abstract»

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  • Assembly as a noncooperative game of its pieces: the case of endogeneous disk assemblies

    Publication Year: 1995, Page(s):2 - 8
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (572 KB)

    We propose an event-driven approach to planning and control of robot assembly problems using ideas from noncooperative game theory. We report on the results of an extensive simulation study for a very simple two degree of freedom case-the arrangement of disks on a plane by a disk shaped robot View full abstract»

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  • A collision detection method for real time assembly simulation

    Publication Year: 1995, Page(s):387 - 392
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (480 KB)

    An assembly model consists of component models and their relations. Conventional CAD systems support 3 dimensional visualization of component models in flat 2D screen. Here, assembly simulation of the assembly model is proposed where the components are displayed and manipulated in 3D environment in real time using the virtual reality interface and the designer can visualize and manipulate the comp... View full abstract»

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  • Fine motion planning through constraint network analysis

    Publication Year: 1995, Page(s):160 - 170
    Cited by:  Papers (7)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (824 KB)

    Flexible assembly machines may be improved and costs reduced by relating constraints on part fixturing accuracy and employing compliant devices in assembly effectors. An effector-mounted remote center compliance (RCC) device that corrects for spatial misalignments of prismatic parts of general cross section has recently been demonstrated. This spatial RCC was designed by planning for the possible ... View full abstract»

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  • A structure-oriented method for generating good assembly sequence plans

    Publication Year: 1995, Page(s):48 - 55
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (756 KB)

    An assembly sequence planner is a system which, given a description of an assembly to be manufactured, identifies subassemblies and generates high-level plans for the construction of each subassembly, including the final assembly. This paper describes a new version of a planner which views the product as a hierarchy of structure elements, and plans by recursively merging plans for substructures. T... View full abstract»

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  • Developing compatible grasp and fixture plans

    Publication Year: 1995, Page(s):354 - 361
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (696 KB)

    Introduces a method for producing geometrically compatible grasp and fixture plans which minimize the closing force required of a gripper loading an object into a fixture and the closing force required of the fixture to keep the object stable during subsequent assembly operations. The authors formulate the problem for parallel-jaw tools by considering equilibrium equations with the gripper and fix... View full abstract»

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  • Towards a task planning for deformable object manipulation-formulation and computation of linear object deformation

    Publication Year: 1995, Page(s):80 - 85
    Cited by:  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (612 KB)

    A systematic approach to the static analysis of deformation of linear objects such as cords and ropes is presented. There exists many manipulative operations that deal with deformable objects in environments that robots are expected to take active parts, while rigid object manipulation has been a main interest in most of the task planning researches. Manipulative operations that deal with deformab... View full abstract»

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  • Swept volumes and their use in viewpoint computation in robot work-cells

    Publication Year: 1995, Page(s):188 - 193
    Cited by:  Papers (2)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (544 KB)

    This paper discusses the automatic computation of viewpoints for monitoring objects and features in an active robot work-cell. An important step in the authors' algorithm for finding viewpoints is the computation of the volumes swept by polyhedral objects moving through space. A method for approximating these volumes for arbitrarily moving polyhedra is presented. Some swept volume results are pres... View full abstract»

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  • Towards efficient motion planning for manipulators with complex geometry

    Publication Year: 1995, Page(s):207 - 212
    Cited by:  Papers (12)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (612 KB)

    Considers the issues involved in writing path planners that can work well with complex geometric models of robots and workspaces, and outline the authors' work in implementing a solution. The authors' claim that many path planning problems can be solved by a mixture of global and local planning. In turn, local planning can be usefully supported by the provision of efficient distance computations, ... View full abstract»

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  • A manufacturing process planner for a concurrent engineering environment

    Publication Year: 1995, Page(s):113 - 119
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (528 KB)

    Most manufacturing evaluations of mechanical designs do not consider the available materials from which the design will be fabricated or the currently available processes, tools, and fixtures on the shop floor. We present a framework in which both shop floor resources, materials, and the design specification are all considered together in order to produce a manufacturability analysis. Our framewor... View full abstract»

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  • Modeling and simulation of the assembly of snap joints

    Publication Year: 1995, Page(s):15 - 20
    Cited by:  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (448 KB)

    Snap fasteners are being increasingly used as joints for parts mating. Due to their simple fitting, the application of snap joints has become widespread in automated assembly. Two aspects are important concerning the design of snap joints, mating forces during the assembly and forces during the disassembly. The former have to be applied for the insertion and the latter are responsible for the func... View full abstract»

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