ProceedingsIEEE Computer Society Press, 1995 - Artificial intelligence |
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Page 165
... torque for y - rotation to urge the peg to follow the state network . This torque also avoids wedging , jamming and dead locations , e.g. , state ( P1 on 81 } . When the z - corrector is acted on by a thrust force due to contacts ...
... torque for y - rotation to urge the peg to follow the state network . This torque also avoids wedging , jamming and dead locations , e.g. , state ( P1 on 81 } . When the z - corrector is acted on by a thrust force due to contacts ...
Page 273
... torque information to reduce the uncertainty in the contact position . Within this frame , this work deals with the use of configuration and reaction force / torque information in assembly task planning and execution . The pa- per is ...
... torque information to reduce the uncertainty in the contact position . Within this frame , this work deals with the use of configuration and reaction force / torque information in assembly task planning and execution . The pa- per is ...
Page 276
... torque sensor is mounted on the robot wrist , and its measurement reference sys- tem is centered on P , with the x ... torque measurement : the ac- tual value of each force component is constrained to be inside a range of 0.2 N centered ...
... torque sensor is mounted on the robot wrist , and its measurement reference sys- tem is centered on P , with the x ... torque measurement : the ac- tual value of each force component is constrained to be inside a range of 0.2 N centered ...
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