ProceedingsIEEE Computer Society Press, 1995 - Artificial intelligence |
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Page 341
... motion planning for assembly is com- monly considered as a distinct , isolated step between task sequencing / scheduling and fine - motion planning . In this pa- per we formulate the problem of gross - motion planning for assembly in a ...
... motion planning for assembly is com- monly considered as a distinct , isolated step between task sequencing / scheduling and fine - motion planning . In this pa- per we formulate the problem of gross - motion planning for assembly in a ...
Page 342
... motion strat- place the part in its goal position . In order for our new gross- egy might be used to initially grasp the specified part , or to motion planning ... motion planner must have some characterization of the anticipated behavior of ...
... motion strat- place the part in its goal position . In order for our new gross- egy might be used to initially grasp the specified part , or to motion planning ... motion planner must have some characterization of the anticipated behavior of ...
Page 431
... step translations and rotations . Since full 6 - dof motions are typically with- out contact , it suffices for a planner to generate 0-8186-6995-0 / 95 $ 04.00 © 1995 IEEE Current Status and Future Research in Motion Planning Y K Hwang.
... step translations and rotations . Since full 6 - dof motions are typically with- out contact , it suffices for a planner to generate 0-8186-6995-0 / 95 $ 04.00 © 1995 IEEE Current Status and Future Research in Motion Planning Y K Hwang.
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