ProceedingsIEEE Computer Society Press, 1995 - Artificial intelligence |
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Page 16
... Contact Kinematics 2 ) edge - edge 1 ) corner - surface 3 ) surface - corner d G K FR L P GrGL , AGL of om snap hook ... point we need the connect- ing vector between the possible contact points , which is perpendicular to the plane ...
... Contact Kinematics 2 ) edge - edge 1 ) corner - surface 3 ) surface - corner d G K FR L P GrGL , AGL of om snap hook ... point we need the connect- ing vector between the possible contact points , which is perpendicular to the plane ...
Page 17
... contact force LfN acts on the touching point . Its di- rection depends on the type of the contact . For type 1 and 3 ( corner - surface ) LƒN is normal to the plane , for type 2 ( edge - edge ) LfN is parallel to the cross product of ...
... contact force LfN acts on the touching point . Its di- rection depends on the type of the contact . For type 1 and 3 ( corner - surface ) LƒN is normal to the plane , for type 2 ( edge - edge ) LfN is parallel to the cross product of ...
Page 122
... contact forces to be planar and use the frictionless contact model at each contact point , then the equilibrium of the planar workpiece shown in Figure 3.b can be described as : For example , in Figure 3.c , the fixture will be stable ...
... contact forces to be planar and use the frictionless contact model at each contact point , then the equilibrium of the planar workpiece shown in Figure 3.b can be described as : For example , in Figure 3.c , the fixture will be stable ...
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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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