NDLI: A dynamic approach to high-precision parts mating

Content Provider	IEEE Xplore Digital Library
Author	Gottschlich, S.N. Kak, A.C.
Copyright Year	1971
Abstract	A method for the mating of tightly fitting parts in the presence of significant sensing, model, and control uncertainties is presented. Using this method randomly placed parts that were located using a three-dimensional laser range scanning system can be mated even when the clearance between them is only 0.001 in. The various sources of error introduced in the fine forced-guided motions used to execute assemblies are examined. Among these sources are noisy force/torque readings, mechanical vibrations, the presence of sliding and sticking frictions, and the possibility of eccentric oblique impacts. It is pointed out how most of these errors might be reduced or eliminated. Straight-line motion goals (SLMGs) are then processed by the basic building blocks of a dynamic planning strategy. By dynamically building an assembly plan out of SLMGs, it is possible to carry out robotic assemblies in the presence of sensing and model uncertainties while recognizing and recovering from errors introduced by control uncertainties. A specific instance of this approach is outlined.<>
Starting Page	797
Ending Page	810
Page Count	14
File Size	1354758
File Format	PDF
ISSN	00189472
Volume Number	19
Issue Number	4
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1989-07-01
Publisher Place	U.S.A.
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Uncertainty Robotic assembly Fitting Laser modes Torque Vibrations Friction Motion planning Process planning Strategic planning
Content Type	Text
Resource Type	Article
Subject	Engineering

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