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Assembly and Task Planning, 1997. ISATP 97., 1997 IEEE International Symposium on

Date 7-9 Aug. 1997

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  • Proceedings of the 1997 IEEE International Symposium on Assembly and Task Planning (ISATP'97) - Towards Flexible and Agile Assembly and Manufacturing -

    Publication Year: 1997
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    Freely Available from IEEE
  • Author index

    Publication Year: 1997, Page(s): 293
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    Freely Available from IEEE
  • Practical motion planning with visual constraints

    Publication Year: 1997, Page(s):237 - 242
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (780 KB)

    The success of an autonomous assembly task relies on a motion planning system to generate a plan to accomplish the task, and on a sensor-based robot control system to ensure successful execution of the plan. The decoupling of sensor-based robot control from motion planning may yield undesirable motion plans that do not utilize the sensing effectively or consider sensor constraints. For example, a ... View full abstract»

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  • Assembly representations for capturing mating constraints and component kinematics

    Publication Year: 1997, Page(s):206 - 211
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (588 KB)

    Design of electro-mechanical products involves the description of the constraints between a group of parts that allows them to behave in the desired fashion. This includes the description of the relative motion between components, fit requirements, and joint strength requirements. While some of these constraints are generated during the conceptual design stage, additional details are developed dur... View full abstract»

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  • Motion planning of eye, hand and body of humanoid robot

    Publication Year: 1997, Page(s):231 - 236
    Cited by:  Papers (1)  |  Patents (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (676 KB)

    This paper presents an algorithm for planning the motions of a sensor and a manipulator that are kinematically connected. Humanoid robots or other service robots have a vision system and one or two arms, and they are usually mounted on a single body. Given a task to be performed, the robot needs to plan a short, collision-free motion for the arm while placing the camera for optimal viewing conditi... View full abstract»

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  • Assembly planning for boundary models of objects

    Publication Year: 1997, Page(s):146 - 151
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (564 KB)

    In this paper we propose a direct approach to assembly planning based on boundary graph models and state transition rules. In our approach the assembly requirements are specified by the graph of connections. An algorithm for the generation of assembly plans is also proposed View full abstract»

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  • The instantaneous kinematics and planning of dextrous manipulation

    Publication Year: 1997, Page(s):60 - 65
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (480 KB)

    Dextrous manipulation is a problem of paramount importance in the study of multifingered robotic hands. In this paper, we derive in detail the kinematic relations between the finger joint velocities and object/contact velocity. The problem of dextrous manipulation is precisely formulated and cast in a form suitable for integrating relevant theory of nonholonomic motion planning, potential field me... View full abstract»

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  • Using dynamic vector force fields to manipulate parts on an intelligent motion surface

    Publication Year: 1997, Page(s):200 - 205
    Cited by:  Papers (1)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (448 KB)

    In this paper we will introduce the use of dynamic vector force fields as a means of moving parts between work cells on an intelligent motion surface (IMS). The idea is to put a force field around a part and move the force field in a continuous or discrete way, dragging the part along with the field. Here, we are not interested in determining in what stable position the part finds itself after the... View full abstract»

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  • A computational representation for rigid and articulated assembly

    Publication Year: 1997, Page(s):224 - 230
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (932 KB)

    With the increasing bevel of automation in assembly planning and assembly execution, it becomes more obvious that there is a gap between the output of a mechanical designer and an assembly planner. The question is: How to describe a designed assembly to an assembly planning system? The input to almost all the current reported automatic assembly planning systems is one-static-state of the final ass... View full abstract»

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  • Active motion planning and collision avoidance for redundant manipulators

    Publication Year: 1997, Page(s):13 - 18
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (584 KB)

    High-speed assembly makes strict demands on path and trajectory planning systems. In such systems the stages of path planning, trajectory planning, and `low-level' control are normally separated, which admits functional simplicity but may not produce the most useful trajectories. Thus we have been exploring the possibility of merging the levels, by allowing the path planner to generate the traject... View full abstract»

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  • Assemblability analysis with adjusting cost evaluation based on tolerance and adjustability

    Publication Year: 1997, Page(s):103 - 108
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (584 KB)

    Tolerances affect the assemblability of a product, which in turn affects the cost of the product because of the scrap cost, and wasted time and energy. In this paper, we propose a method to analyze the product in terms of assemblability based on tolerances and adjustability of the parts. More specifically, the product is considered assembled if the real parts can be fit regardless of the deviation... View full abstract»

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  • Optimal sensor location design in automated coordinate checking fixtures

    Publication Year: 1997, Page(s):140 - 145
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (528 KB)

    This article proposes a method for the optimal design of sensor locations in an automated coordinate checking fixture (CCF) used for at-machine assessments of the dimensional accuracy of manufactured automotive space frame components, From coordinate measurements obtained by the sensors, shape parameters of a formed space-frame extrusion are estimated. There are two main issues to be addressed, na... View full abstract»

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  • Interactive evaluation of assembly sequences with mixed (real and virtual) prototyping

    Publication Year: 1997, Page(s):287 - 292
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (796 KB)

    This paper describes an interactive tool for evaluating assembly sequences using the novel human-computer interface of augmented reality. The goal is to be able to consider various sequencing alternatives at an early stage of the manufacturing design process by manipulating both virtual and real prototype components. Thus the mixed prototyping can enable a better intuition of the different constra... View full abstract»

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  • Dynamic tolerance analysis of multi operation manufacturing process

    Publication Year: 1997, Page(s):54 - 59
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (412 KB)

    A component is typically produced through several machining processes in a manufacturing environment. Tolerance is assigned to each operation considering the inherent capabilities of the process and the blue print (B/P) requirements. The tolerance chart is a graphical representation of a process plan used to establish the link between interrelated machining operations, and defines a procedure to c... View full abstract»

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  • Considering bills of material in hybrid flow shop scheduling problems

    Publication Year: 1997, Page(s):194 - 199
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (488 KB)

    In this paper, we propose to take bills of material into account in hybrid flow shop scheduling problems. We study the scheduling of N jobs in a hybrid flow shop with V-stages and identical parallel machines. We also consider that the jobs are subject to precedence constraints. Job-precedence constraints enable the modeling of different processing units in a flow shop organization and also the mod... View full abstract»

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  • Assembly features for mechanical product data

    Publication Year: 1997, Page(s):218 - 223
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (648 KB)

    This paper deals with a representation of assembly features. Modeling the product at each stage of they assembly process, describing part's faces, assessing accessibility, and modeling technological information make the series of steps that distinguish our model from the ones found in the literature. Such a representation also greatly contributes to the designing of a system that includes the vari... View full abstract»

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  • A real-time dual-arm collision avoidance algorithm for assembly

    Publication Year: 1997, Page(s):7 - 12
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (532 KB)

    Multi-robot workcells provide efficiency of space, time, and materials in assembly. However this advantage cannot be fully utilized unless an efficient offline/online collision-free trajectory planner is in charge of controlling the arms. In this paper a new algorithm which provides the online and real-time generation of dual-arm collision-free trajectories has been established. The algorithm is c... View full abstract»

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  • Multi-product resource planning

    Publication Year: 1997, Page(s):115 - 121
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (640 KB)

    This paper presents a line balancing method concerning the assembly of a family of products. The product variants are assembled following different assembly sequences (some operations are different or missing). The problem is to assign each operation to a workstation in order to meet production requirements at the minimum total system cost. Operations are assigned to workstations in such a way tha... View full abstract»

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  • Assemblability based on maximum likelihood configuration of tolerances

    Publication Year: 1997, Page(s):96 - 102
    Cited by:  Papers (6)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (552 KB)

    An assembly is defined by a configuration of parts of known geometries subject to tolerances in the pose, dimensions, and mating relations among part features. Using a tolerance model based on matrix transforms and Gaussian models of geometric variations, the pose and dimensional tolerance models are considered as a priori models of the assembly with nominal and variational components for both pos... View full abstract»

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  • Distortion analysis in an omnidirectional image sensing system for assembly (OISSA)

    Publication Year: 1997, Page(s):257 - 262
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (524 KB)

    In assembly, part misalignment must be detected and compensated for during the mating period, regardless of the complexity of a cross-sectional shape. In order to achieve these objectives, we have proposed a novel omnidirectional image sensing system for assembling parts with complicated shapes (OISSA), consisting of a pair of an inside-conic and an outside-conic mirror, a pair of plane mirrors, a... View full abstract»

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  • Representing and generating operation sequences for manufacturing tasks

    Publication Year: 1997, Page(s):134 - 139
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (532 KB)

    This paper deals with a system called TPMS (Task Planning for Manufacturing Systems). The main aim of this system is to automatically generate programs or sets of commands for robots, AGV, numerical control machines, etc, without spending much time programming the flexible manufacturing system components. The sequence of operations to be handled by the manufacturing system depends on the constrain... View full abstract»

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  • 3D analysis of contact in peg-hole insertion

    Publication Year: 1997, Page(s):84 - 89
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (424 KB)

    Contact types of chamfered cylindrical peg and cylindrical hole are analyzed in three dimensional space heading for the task understanding of insertion of the peg into the hole. Considering deviation and tilt angle of the center axis of the peg to center axis of the hole as parameters, relationships between the contact types and the parameters are investigated and a region map of the contact types... View full abstract»

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  • Geometry-based part grouping for assembly planning

    Publication Year: 1997, Page(s):281 - 286
    Cited by:  Papers (2)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (580 KB)

    One way to find an optimal plan is to enumerate all plans and evaluate a quality metric for each plan. However it is well known that N parts can have up to O(2N) assembly plans. Reducing N by grouping parts has been proposed earlier but to our knowledge has not been formally defined. In this paper we define two types of groups in terms of part geometry using the nondirectional blocking ... View full abstract»

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  • MAPP: a matrix architecture for process planning

    Publication Year: 1997, Page(s):48 - 53
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (564 KB)

    The goal of this work is to devise a structured representation of manufacturing planning that captures both the sequence of processing steps and the data functions, such as tooling, fixturing, and setups. The difficulty in accomplishing this is that although processing steps are often strongly ordered, these steps do not follow neat functional boundaries between tools, fixtures, setups, etc. The s... View full abstract»

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  • Transient state study for cyclic schedules: bounds and optimization

    Publication Year: 1997, Page(s):188 - 193
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (888 KB)

    We are interested in discrete event dynamic systems and especially the manufacturing systems and their production management. To reduce the complexity of the problem, we consider only steady, repetitive and deterministic command. We have previously (1996) developed a structured and progressive method to elaborate the cyclic behavior of the production while optimizing quantitative and qualitative p... View full abstract»

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