Assembly and Task Planning, 1999. (ISATP '99) Proceedings of the 1999 IEEE International Symposium on

24-24 July 1999

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  • Proceedings of the 1999 IEEE International Symposium on Assembly and Task Planning (ISATP'99) (Cat. No.99TH8470)

    Publication Year: 1999
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    Freely Available from IEEE
  • Author index

    Publication Year: 1999, Page(s):465 - 466
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    Freely Available from IEEE
  • A procedure to solve the CORV problem

    Publication Year: 1999, Page(s):361 - 367
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (436 KB)

    Sequencing units on assembly lines in order to attenuate rate variations in resource consumption is a problem that has received growing attention in recent years. In this work, we deal with a particular case, the constrained output rate variation (CORV) problem, that seems to be better adapted than other views to real industry problems, especially in car production systems. After giving a general ... View full abstract»

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  • Modelling and solving the SALB-E problem

    Publication Year: 1999, Page(s):356 - 360
    Cited by:  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (324 KB)

    This paper deals with the so-called SALBP-E (simple assembly line balancing problem-efficiency) problem, which consists of maximising the efficiency of an assembly line (defined as the product of the number of stations by the cycle time) in the framework of the assumptions that characterise the SALB problems. We propose mixed integer linear programming models and heuristic procedures, based on a f... View full abstract»

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  • Toward adaptive assembly sequence planner

    Publication Year: 1999, Page(s):350 - 355
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (440 KB)

    The paper describes the concpet of adaptive heuristic assembly planner (AHAP). AHAP has the ability to automatically extract specific knowledge about the assembly from previous planning sessions and the ability to use this constructed knowledge for guiding future planning sessions. The benefits of such a possibility are increased efficiency, since the experience would help to find the optimal asse... View full abstract»

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  • A trajectory planning algorithm for redundant manipulators

    Publication Year: 1999, Page(s):175 - 180
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (396 KB)

    Redundant manipulators have some advantages when compared with classical arms because they allow trajectory optimization, both in free space and in the presence of obstacles, and the resolution of singularities. For this type of manipulators, several kinematic control algorithms adopt generalized inverse matrices. In this line of thought, the generalized inverse control scheme is tested through se... View full abstract»

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  • An efficient image processing algorithm for high-level skill acquisition

    Publication Year: 1999, Page(s):262 - 267
    Cited by:  Papers (5)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (656 KB)

    This paper describes the set-up of the image processing system installed at the IPR in Karlsruhe. It will serve for sensor device in the programming by demonstration field. As a first application example, it is used as source for images in the demonstration of a bag packaging task. A detection algorithm that finds positions of infusion bags is presented. It was developed at the Department of Compu... View full abstract»

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  • Fast bending sequence planning for progressive press-working

    Publication Year: 1999, Page(s):344 - 349
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (484 KB)

    Manufacturing process planning of the product, especially planning of the bending sequence is the most critical task in designing the press-working line. Three acceleration methods of the bending sequence planning are proposed. First, bending operations in the progressive press-working must comply some topological constraints of a port. These constraints are used as filters for excluding infeasibl... View full abstract»

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  • Performance analysis and planning in graspless manipulation

    Publication Year: 1999, Page(s):238 - 243
    Cited by:  Papers (5)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (452 KB)

    Graspless manipulation is a process in which objects are manipulated by making use of the environment surrounding it. Graspless manipulation enables a robot to handle objects that cannot be rigidly grasped due to the environment presenting obstacles in the way of its fingers. However, in the manipulation, the handled objects can easily slip out of the robot's fingers. Therefore it is necessary to ... View full abstract»

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  • Evolutionary multiple path planner for assembly

    Publication Year: 1999, Page(s):81 - 87
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (664 KB)

    The problem of assembly operation feasibility is considered as a hierarchy of feasibility tests: local feasibility and global feasibility. We consider the problem of global feasibility as a multi-dimensional optimization problem which is approached using evolutionary computation techniques. A novel, iterative, multiresolution path representation is used as a basis for the evolutionary coding. If a... View full abstract»

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  • Improving the performance of compliant motions by online geometric uncertainty reduction

    Publication Year: 1999, Page(s):169 - 174
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (436 KB)

    The automatic planning of robotic assembly tasks usually gives rise to a sequence of compliant motions. These motions are executed using online sensory information to lessen the effect of modelling and sensing uncertainties affecting the task. The paper presents a procedure to estimate some geometric parameters in a planar assembly task in order to improve the performance of compliant motions. Thi... View full abstract»

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  • A new philosophy for the design of a product and its assembly line

    Publication Year: 1999, Page(s):381 - 386
    Cited by:  Papers (7)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (500 KB)

    The main objective of the research presented is to develop a new philosophy for product and assembly line design. Most methodologies usually do not consider the interaction between the two design processes in presence. Moreover, most concurrent engineering approaches do not deal with multi-variant products. A research project was initiated to tackle this problem. The computer tool under developmen... View full abstract»

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  • Feature-based assembly model and multi-agents system structure for computer-aided assembly

    Publication Year: 1999, Page(s):8 - 13
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (528 KB)

    Proposes an approach for a computer-aided assembly (CAA) system, which makes use of software agent technology and deals with a representation of assembly features. The proposed system corresponds to a multi-agent society. Each agent solves problems autonomously by itself and sometimes cooperates with other agents communicating asynchronously. The system never thinks like a assembly engineer; but m... View full abstract»

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  • Fourier analysis of robot trajectories in random tasks

    Publication Year: 1999, Page(s):192 - 197
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (380 KB)

    A new method for the study and optimization of manipulator trajectories is developed. The novel feature resides on the modeling formulation. Standard system descriptions are based on a set of differential equations which, in general, require laborious computations and may be difficult to analyze. Moreover, the derived algorithms are suited to `deterministic' tasks, such as those appearing in a rep... View full abstract»

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  • The knowledge representation and programming for robotic assembly task

    Publication Year: 1999, Page(s):256 - 261
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (372 KB)

    Presents a knowledge representation and programming method for robotic assembly tasks. The methodology is explained through robotic assembly tasks with position and force control. The state space of assembly objects is abstractly defined using a qualitative landmark which consists of the state of an object and a robot. The current state and sensor input determines the next robot action, and the st... View full abstract»

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  • A framework for automating cost estimates in assembly processes

    Publication Year: 1999, Page(s):100 - 105
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (520 KB)

    When a product concept emerges, the manufacturing engineer is asked to sketch out a production strategy and estimate its cost. The engineer is given an initial product design, along with a schedule of expected production volumes. The engineer then determines the best approach to manufacturing the product comparing a variety of alternative production strategies. The engineer must consider the capit... View full abstract»

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  • Process planning using a genetic algorithm approach

    Publication Year: 1999, Page(s):338 - 343
    Cited by:  Papers (7)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (476 KB)

    This paper presents a system for computer aided process planning (CAPP), using a precedence graph representation of the operations and their restrictions. Description of machine and tool selection is described, as well as the operation sequencing. A genetic algorithm is used to generate the sequence of operations and to select the machine and tools that minimize some criteria (machining time) View full abstract»

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  • Mechanical assembly by a multi-fingered robotic hand with error recovery function

    Publication Year: 1999, Page(s):232 - 237
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (420 KB)

    Describes a dexterous and robust manipulation system for mechanical assembly with a multifingered hand. The system is composed of a grasp planner and a real-time execution subsystem. The planner plans an initial grasp from which a required continuous motion of the object is achieved while keeping rolling contact at the fingertips. Task error detection and recovery strategies have been developed ba... View full abstract»

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  • Application of screw theory to motion analysis of assemblies of rigid parts

    Publication Year: 1999, Page(s):75 - 80
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (532 KB)

    Screw theory is well known to do kinematic computations. Recently it has been used to create kinematic models of assembly features so allowing assembly analysis. Motion limit analysis uses the mathematics of screw theory to model the ability of mechanical assembly features to allow or constrain rigid body motions in six degrees of freedom. A user of this theory is able to determine the directions ... View full abstract»

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  • Representation of disassembly processes in order to allow time evaluation of their performances

    Publication Year: 1999, Page(s):135 - 140
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (444 KB)

    This paper introduces the tools used to represent disassembly processes. These tools have to allow designers representing processes at each design stages and have to allow time evaluation of process performances. Three levels of precision in the description of disassembly processes are defined: level 0 which represents the process at product level, level 1 which is an operating mode level, and lev... View full abstract»

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  • Using hybrid cc to simulate multi-tier peg-in-hole problems

    Publication Year: 1999, Page(s):307 - 312
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (396 KB)

    Many robotic assembly tasks can be viewed as multi-tier peg-in-hole, or “peg-in-maze” problems. Such tasks are hybrid system control problems since they combine continuous movement with event detection. This paper presents Hybrid cc as a software tool for simulating hybrid systems and uses it to simulate two-dimensional multi-tier peg-in-hole problems View full abstract»

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  • A trajectory planner for manipulators using genetic algorithms

    Publication Year: 1999, Page(s):163 - 168
    Cited by:  Papers (5)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (352 KB)

    Proposes a genetic algorithm (GA) to generate trajectories for robotic manipulators. The objective is to minimize the ripple in the time evolution of robot positions and velocities. Moreover, the manipulator is required to reach a predefined goal without colliding with obstacles in the workspace. The article presents the results for several redundant and non-redundant robot manipulators View full abstract»

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  • Dynamic scheduling of manufacturing orders: a decision support system approach

    Publication Year: 1999, Page(s):417 - 423
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (544 KB)

    This paper presents a decision support system (DSS) based architecture and a new method for the dynamic scheduling of manufacturing systems. The proposed architecture is based on the DSS paradigm. The typical scheduling problems, namely the order allocation and order sequencing problems, are to be solved for a given production plan which defines a set of manufacturing orders to be processed. These... View full abstract»

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  • Hierarchical constraint satisfaction for high-level dimensional inspection planning

    Publication Year: 1999, Page(s):374 - 380
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (568 KB)

    Coordinate measuring machines (CMMs) are very precise Cartesian robots that are used for dimensional inspection. High-level inspection planning for a CMM involves spatial reasoning, to determine how to orient the part on the CMM, which probes to use, how to orient the probes, and what measurements to perform. Current planners are incomplete or only solve the problem partially. In this work, we map... View full abstract»

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  • Learning assembly sequence plans using functional models

    Publication Year: 1999, Page(s):1 - 7
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (1028 KB)

    The representation of knowledge about assembled objects is a fundamental requirement, if computer systems are used to supervise construction tasks. Depending on the complexity of the task and the characteristics of the objects forming its basis the process of modeling may be burdensome. We introduce a method to model classes of assemblies instead of individual assembled objects. Based on functiona... View full abstract»

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