NDLI: Design and motion constraints of part-mating planning in the presence of uncertainties

Content Provider	IEEE Xplore Digital Library
Author	Xiao, J. Voltz, R.A.
Copyright Year	1988
Description	Author affiliation: Center for Res. on Integrated Manuf., Michigan Univ., MI, USA (Xiao, J.; Voltz, R.A.)
Abstract	The authors assume a nominal motion plan for the zero-error situation and devise a simple replanning strategy based on the availability of force, moment, and position sensors to handle errors that may arise during program execution. They develop design constraints relating the parameters of the strategy, parameters of the sensor, control and manufacturing errors, and nominal design parameters. If the constraints are satisfied, the replanning strategy can theoretically be guaranteed to be successful. The constraints are shown to be reasonable in the sense that they do not impose unrealistic conditions on typical design. Simulation results uphold the theoretical derivations and show empirically that the theoretical constraints can be relaxed somewhat with excellent results obtained.
Starting Page	1260
Ending Page	1268
File Size	783471
Page Count	9
File Format	PDF
ISBN	0818608528
DOI	10.1109/ROBOT.1988.12234
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1988-04-24
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Uncertainty Error correction Robotic assembly Robotics and automation Robot sensing systems Motion planning Manufacturing automation Force sensors Constraint theory Force control
Content Type	Text
Resource Type	Article

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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
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