## 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

The example shows the deformed shapes of a linear object computed by

considering its bending and tor-

object of its length L along the central axis of the object. Suppose that the

orientation at ...

The example shows the deformed shapes of a linear object computed by

considering its bending and tor-

**tion**, say, U = U/iex + Utor- Let us reduce a linearobject of its length L along the central axis of the object. Suppose that the

orientation at ...

Page 108

The bindings list B contains the variable codesigna-

constraints in the plan, as well as variable bindings to constants. 2.2 Planning

Algorithm A planning problem consists of a set of initial conditions and a set of

goal ...

The bindings list B contains the variable codesigna-

**tion**and non-codesignationconstraints in the plan, as well as variable bindings to constants. 2.2 Planning

Algorithm A planning problem consists of a set of initial conditions and a set of

goal ...

Page 136

... ūn + 1 }

unique Before proving the necessary and sufficient condition linear combination

of Ji , i = 1 , . . . , n and all coefficients for a set of vectors to positively span R " ...

... ūn + 1 }

**tion**of vi , i = 1 , . . . , n . in R ” positively span R ” if and only if Unt1 is aunique Before proving the necessary and sufficient condition linear combination

of Ji , i = 1 , . . . , n and all coefficients for a set of vectors to positively span R " ...

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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