NDLI: A replanning approach towards uncertainty handling in robot assembly

Content Provider	IEEE Xplore Digital Library
Author	Xiao, J. Volz, R.A.
Copyright Year	1988
Description	Author affiliation: Robot Syst. Div., Michigan Univ., Ann Arbor, MI, USA (Xiao, J.; Volz, R.A.)
Abstract	The authors introduce a replanning approach toward robot planning for assembly tasks by assuming the existence of a nominal robot motion plan and developing replanning strategies to handle failures due to uncertainties or errors. Specifically, they extend the concept of contact formations by defining contact planes and abstract obstacles, on the basis of which a patch-planning strategy is developed and evaluated; the strategy can generate patch-plans in real time to resolve unplanned contacts between the object being moved and its environment due to uncertainties and lead the object to its nominal goal. The authors also introduce motion strategy planning an constraints which are necessary to guarantee the success of a high-precision assembly task.
Starting Page	326
Ending Page	331
File Size	500929
Page Count	6
File Format	PDF
ISBN	0818620129
ISSN	21589860
DOI	10.1109/ISIC.1988.65451
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1988-08-24
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robotic assembly Uncertainty Robotics and automation Robot sensing systems Motion control Control systems Motion planning Error correction Contacts Assembly systems
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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