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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Ro, P.I. Lee, B.R. |
| Copyright Year | 1993 |
| Description | Author affiliation: Dept. of Mech. & Aerosp. Eng., North Carolina State Univ., Raleigh, NC, USA (Ro, P.I.; Lee, B.R.) |
| Abstract | A strategy is discussed for assembly path planning of parts to be assembled by two assembly robots in a working space. Path modeling based on the use of real and virtual vertices of male and female parts is introduced to represent the relative relationship of parts in assembled position. A new algorithm for assembly path planning of two parts is developed. An algorithm for optimum posture (position and orientation) for a two-arm fixtureless assembly in the working space is proposed. A performance index is introduced to describe both accurate assembly capability and manipulability in the working space. The two strategies are combined, and the two-arm fixtureless assembly is demonstrated graphically for two planar robots. |
| Starting Page | 808 |
| Ending Page | 813 |
| File Size | 534530 |
| Page Count | 6 |
| File Format | |
| ISBN | 0818634502 |
| DOI | 10.1109/ROBOT.1993.291935 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 1993-05-02 |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Path planning Robotic assembly Robot kinematics Manipulators Assembly systems Arm Strategic planning Aerospace engineering Performance analysis Orbital robotics |
| Content Type | Text |
| Resource Type | Article |
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