NDLI: Fine motion planning through constraint network analysis

Content Provider	IEEE Xplore Digital Library
Author	Sturges, R.H. Laowattana, S.
Copyright Year	1995
Description	Author affiliation: Dept. of Mech. Eng., Carnegie Mellon Univ., Pittsburgh, PA, USA (Sturges, R.H.)
Abstract	Flexible assembly machines may be improved and costs reduced by relating constraints on part fixturing accuracy and employing compliant devices in assembly effectors. An effector-mounted remote center compliance (RCC) device that corrects for spatial misalignments of prismatic parts of general cross section has recently been demonstrated. This spatial RCC was designed by planning for the possible fine motion assembly contact states given a range of initial position and orientation uncertainty between the mating parts. These fine motion contact states are arranged in a constraint network in the fashion of a Petri-net controller. However, the control transitions are mediated by compliances reacting to contact forces rather than from force sensing and discrete event controller schemes. A path through the constraint network of a square peg and hole task is found from initial to final assembly states. This path defines a single compliance relationship that is realized with a practical assembly device. Extensions of this design technique to other assembly tasks is discussed.
Starting Page	160
Ending Page	170
File Size	980739
Page Count	11
File Format	PDF
ISBN	0818669950
DOI	10.1109/ISATP.1995.518766
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1995-08-10
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Motion analysis Costs Force control Assembly systems Jamming Fixtures Open loop systems Robotic assembly Torque Mechanical engineering
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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