## IEEE International Symposium on Assembly and Task Planning: Proceedings, August 10-11, 1995, Pittsburgh, PennsylvaniaProceedings of the August 1995 symposium. Themes include assembly representation and modeling, task planning, assembly sequence planning, fixturing, scheduling, sensor planning, motion planning for articulated and multiple robots, design for assembly, and coordination. Speeches discuss the past, pre |

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Page 83

Suppose that an external force Fk is applied to the object at point P(sk)- Note that

coordinates corresponding to at natural shape are given by *o(*t) — [050, Sfc]T.

Thus, the work done by force Fjt is

Suppose that an external force Fk is applied to the object at point P(sk)- Note that

coordinates corresponding to at natural shape are given by *o(*t) — [050, Sfc]T.

Thus, the work done by force Fjt is

**described**as F% {x(sk) - Xo(sk)}- Assuming ...Page 123

fixturing of the prismatic workpiece under frictionless contact model where all the

contact forces direct along the contact inward normals . of the coordinate system

is to be balanced , then the equilibrium of the system can be

fixturing of the prismatic workpiece under frictionless contact model where all the

contact forces direct along the contact inward normals . of the coordinate system

is to be balanced , then the equilibrium of the system can be

**described**as : i 1 1 ...Page 124

It was shown in the discussion of equation ( 5 ) that conditions ( a ) and ( b )

equation ( 10 ) . The magnitudes of the force components that balance in the

domain ...

It was shown in the discussion of equation ( 5 ) that conditions ( a ) and ( b )

**described**above also assure the existence of positive ( amas , Qg , a , ) muell inequation ( 10 ) . The magnitudes of the force components that balance in the

domain ...

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### Contents

The Case of Endogenous | 2 |

A New Approach for the Specification of Assembly Systems | 9 |

Modeling and Simulation of the Assembly of Snap Joints | 15 |

Copyright | |

45 other sections not shown

### Common terms and phrases

actions active algorithm allows analysis applied approach assembly planning assembly sequences assume cell complete components Computer configuration considered constraints coordinates corresponding cost defined described determine developed direction distance edge Engineering equation example execution Figure final fixture force frame function geometric given goal graph grasp IEEE implemented indexing initial International knowledge machine manipulator manufacturing mating mechanical method motion motion planning moving nodes object obstacles obtained operations optimal orientation path performance Petri planner position possible present problem Proc proposed References represent representation respectively robot Robotics and Automation rules selected sensing sensor sequence shown shows side simulation solution solve space specific step strategy structure subassemblies surface task tion tool trajectory transition uncertainty