## 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 124

similar to

components acting at points 4 ' , 5 ' , 6 ' ... The equilibrium

of F , M , and M . can then be formulated by using

similar to

**equations**( 1 ) and ( 5 ) : 2 (**equation**( 6 ) ) that the four parallel forcecomponents acting at points 4 ' , 5 ' , 6 ' ... The equilibrium

**equation**in the domainof F , M , and M . can then be formulated by using

**equation**( 12 ) to replace the ...Page 156

It is assumed that only one constraint

one case when several constraint

singularity takes place. This occurs in compliant motions when a peg corner ...

It is assumed that only one constraint

**equation**can change at a time. However,one case when several constraint

**equations**change simultaneously is when asingularity takes place. This occurs in compliant motions when a peg corner ...

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and fi = a , for frictionless contact model ( see

it is the position of the ith fixel . A set of internal forces for the above equilibrium

and fi = a , for frictionless contact model ( see

**equation**( 3 ) ) . r = [ ristiyoric ) ' andit is the position of the ith fixel . A set of internal forces for the above equilibrium

**equation**can be found using**equation**( 2 ) : area 234 [ ( + 372 ) 8 ( 53 - ro ( Tr ...### What people are saying - Write a review

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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