## 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 84

Assume that dimensionless quantity Rf/Rt, which characterizes the object shape,

is equal to 100. Let us show the computed shapes corresponding to various

values of the

0.31.

Assume that dimensionless quantity Rf/Rt, which characterizes the object shape,

is equal to 100. Let us show the computed shapes corresponding to various

values of the

**distance**between two endpoints; 0.8L, 0.7L, 0.61, 0.51, 0.41, and0.31.

Page 210

4.1 Using A Containment Hierarchy The GJK algorithm only considers the

between them. By constructing hierarchical representations of objects we can

represent ...

4.1 Using A Containment Hierarchy The GJK algorithm only considers the

**distance**between a pair of convex objects, and provides the exact**distance**between them. By constructing hierarchical representations of objects we can

represent ...

Page 377

... Polytope

extend the polytope

polytope

points pa ...

... Polytope

**Distance**Algorithm - V V - V e - e - touch V - e In this section , we firstextend the polytope

**distance**algorithm ... computing their**distance**by thepolytope

**distance**algorithm in ( 3 ) gives the expressions of the two nearestpoints pa ...

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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