NDLI: A framework for geometric reasoning about tools in assembly

Content Provider	IEEE Xplore Digital Library
Author	Wilson, R.H.
Copyright Year	1996
Description	Author affiliation: Intelligent Syst. & Robotics Center, Sandia Nat. Labs., Albuquerque, NM, USA (Wilson, R.H.)
Abstract	When assembling a product, humans, robots, and other automation employ a variety of tools to manipulate, attach, and test parts and subassemblies. This paper proposes a framework to represent and reason about geometric accessibility constraints for a wide variety of assembly tools. Central to the framework is a volume encoding a minimum space that must be free in an assembly state to apply a given tool, and constraints on the placement of that volume relative to the parts on which the tool acts. Determining whether a tool can be applied in a given assembly state is an instance of the FINDPLACE problem. In addition, we present more efficient methods to integrate the framework into assembly planning. For tools that are applied either before or after their target parts are mated, one method preprocesses a single tool application for all possible states of assembly. For tools applied after their target parts are mated, a complementary method guarantees polynomial-time assembly planning. We describe experiments with an initial implementation of the framework and a library of eight tools.
Starting Page	1837
Ending Page	1844
File Size	1011430
Page Count	8
File Format	PDF
ISBN	0780329880
ISSN	10504729
DOI	10.1109/ROBOT.1996.506979
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1996-04-22
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robotic assembly Assembly systems Intelligent robots Robotics and automation Polynomials Robot kinematics Laboratories Humans Intelligent systems Orbital robotics
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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

Advances in orbital robotics

From crystals to lattice robots

Learning to role-switch in multi-robot systems

Probabilistic modeling of intelligent robotic systems

Self assembly of modular manipulators with active and passive modules

Representations of mechanical assembly sequences

Robust robotic assembly through contingencies, plan repair and re-planning

A family of quadratically-solvable 5-SP̲U parallel robots

Automatic detection of assembly mode for a triglide-robot

A framework for geometric reasoning about tools in assembly

Similar Documents

Advances in orbital robotics

From crystals to lattice robots

Learning to role-switch in multi-robot systems

Probabilistic modeling of intelligent robotic systems

Self assembly of modular manipulators with active and passive modules

Representations of mechanical assembly sequences

Robust robotic assembly through contingencies, plan repair and re-planning

A family of quadratically-solvable 5-SP̲U parallel robots

Automatic detection of assembly mode for a triglide-robot

A framework for geometric reasoning about tools in assembly