Abstract:
This paper introduces the concept of caging micromanipulation for use in automated open loop microassembly tasks. Utilizing a caging transport motion primitive along with...Show MoreMetadata
Abstract:
This paper introduces the concept of caging micromanipulation for use in automated open loop microassembly tasks. Utilizing a caging transport motion primitive along with rotational and translation primitives, we demonstrate full control of the state of the part. Additionally, a framework for planar microassembly task planning is provided based on the A* algorithm. It is used to determine the optimal assembly sequences and part starting locations in the workspace. We also describe a test-bed suitable for planar micro, meso-scale, and nano-scale manipulation and assembly tasks and present simulation and experimental results of this work.
Date of Conference: 09-13 May 2011
Date Added to IEEE Xplore: 18 August 2011
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Keywords assist with retrieval of results and provide a means to discovering other relevant content. Learn more.
- IEEE Keywords
- Index Terms
- Sequence Assembly ,
- Optimal Sequence ,
- Part Of The State ,
- Open Loop ,
- Start Location ,
- Motion Primitives ,
- Search Algorithm ,
- Average Error ,
- Free Space ,
- Control Input ,
- Average Change ,
- Shortest Path ,
- Goal Orientation ,
- Start Position ,
- Rotational Motion ,
- Optimal Path ,
- Coordinate Frame ,
- Local Parts ,
- Probe Tip ,
- Local Frame ,
- Planning Algorithm ,
- Part Orientation ,
- Interesting Part ,
- Assembly Of Parts ,
- Goal Position ,
- Part Geometry ,
- Center Of Mass
Keywords assist with retrieval of results and provide a means to discovering other relevant content. Learn more.
- IEEE Keywords
- Index Terms
- Sequence Assembly ,
- Optimal Sequence ,
- Part Of The State ,
- Open Loop ,
- Start Location ,
- Motion Primitives ,
- Search Algorithm ,
- Average Error ,
- Free Space ,
- Control Input ,
- Average Change ,
- Shortest Path ,
- Goal Orientation ,
- Start Position ,
- Rotational Motion ,
- Optimal Path ,
- Coordinate Frame ,
- Local Parts ,
- Probe Tip ,
- Local Frame ,
- Planning Algorithm ,
- Part Orientation ,
- Interesting Part ,
- Assembly Of Parts ,
- Goal Position ,
- Part Geometry ,
- Center Of Mass