ProceedingsIEEE Computer Society Press, 1995 - Artificial intelligence |
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Page 365
... subgoal defined from BP SG ; is formalized as SG , BP , COP . = We associate the subgoal with its corresponding recog- nition condition RC ;. RC ; is a set of bit vectors X ; corre- sponding to SG ;. The RCG of the goal is { ( 1 1 1 ) ...
... subgoal defined from BP SG ; is formalized as SG , BP , COP . = We associate the subgoal with its corresponding recog- nition condition RC ;. RC ; is a set of bit vectors X ; corre- sponding to SG ;. The RCG of the goal is { ( 1 1 1 ) ...
Page 401
... subgoals is generated and the existence of a collision - free path between successive subgoals is verified . Sandros uses a two - level planning hierarchy . The global planner maintains the subgoal network and produces sequences of subgoals ...
... subgoals is generated and the existence of a collision - free path between successive subgoals is verified . Sandros uses a two - level planning hierarchy . The global planner maintains the subgoal network and produces sequences of subgoals ...
Page 402
... subgoal ) is refined . When a vertical - bar subgoal is refined , small - square subgoals are generated by select- ing good positions of the second link while keeping the first joint at the vertical bar . The curves in Figure 2b show ...
... subgoal ) is refined . When a vertical - bar subgoal is refined , small - square subgoals are generated by select- ing good positions of the second link while keeping the first joint at the vertical bar . The curves in Figure 2b show ...
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