ProceedingsIEEE Computer Society Press, 1995 - Artificial intelligence |
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Page 201
... C - space because the robot becomes a point in C - space . The motion planning problem then becomes one of computing a decomposition of the C - space and searching through sequences of cells to find a path that involves no col- lisions ...
... C - space because the robot becomes a point in C - space . The motion planning problem then becomes one of computing a decomposition of the C - space and searching through sequences of cells to find a path that involves no col- lisions ...
Page 401
... Cspace , implicitly generating the ob- stacles in the Cspace . The search for a collision - free path is done using the generate - and - test paradigm . A promising sequence of subgoals is generated and the existence of a collision ...
... Cspace , implicitly generating the ob- stacles in the Cspace . The search for a collision - free path is done using the generate - and - test paradigm . A promising sequence of subgoals is generated and the existence of a collision ...
Page 402
... Cspace ( the ini- tial subgoal ) is refined . When a vertical - bar subgoal is refined , small - square subgoals are generated by select- ing good positions of the second link while keeping the first joint at the vertical bar . The ...
... Cspace ( the ini- tial subgoal ) is refined . When a vertical - bar subgoal is refined , small - square subgoals are generated by select- ing good positions of the second link while keeping the first joint at the vertical bar . The ...
Contents
A New Approach for the Specification of Assembly Systems | 9 |
Plan Representation and Generation for Manufacturing Tasks | 22 |
Lessons Learned from a Second Generation Assembly Planning System | 41 |
Copyright | |
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Common terms and phrases
algorithm analysis applied approach Artificial Intelligence assembly model assembly operations assembly planning assembly sequences assembly task camera cell clearance collision common ontology components Computer Conf Conference on Robotics configuration space constraints convex coordinates corresponding Cspace decomposition defined described disassembly domain ellipsoid equation example execution feasible fixels fixture function geometric global goal graph grasp gripper handler IEEE implemented initial input insertion intersection knowledge representation machine manipulator Manufacturing Systems mating method motion planning moving nodes object obstacles octree ontology optimal orientation parameters path path planning performance Petri net Petri nets planner position problem Proc process planning rendezvous-point represent representation robot motion Robotics and Automation scheduling sensor shown in Figure simulation snap fastener solution strategy structure subassemblies subgoal task planning ternary operations tion tool trajectory transition uncertainty vector voxels workcell workpieces