Hostname: page-component-586b7cd67f-dsjbd Total loading time: 0 Render date: 2024-11-22T00:21:17.155Z Has data issue: false hasContentIssue false
  • English
  • Français

A configuration space based approach for robotic assembly sequencing

Published online by Cambridge University Press:  09 March 2009

Praveen Bhatia ,
A.M.S. Zalzala  and
Amitabh Ghosh
Get access Rights & Permissions [Opens in a new window]

Extract

This paper describes a compact assembly sequencer for automatic robotic assembly using a configuration space-based path planner. Connection graph of the assembly is constrained by the feasibility information made available from the analysis of local disassembly paths tried by the robot's path planner. Free space of the robot performing assembly is explicitly used to generate the disassembly constraints. We show with the help of a ball pen assembly how the sequencing is performed with this representation.

Keywords

Robotic assemblyPath plannerAssembly sequencer.
Type
Research Article
Information
Robotica , Volume 14 , Issue 6 , November 1996 , pp. 633 - 645
Copyright
Copyright © Cambridge University Press 1996

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

REFERENCES

1.Reif, J., “Complexity of the mover's problem and generalizations” Proc. 20th IEEE Symposium FOCS, pps. 421–428 (1979).CrossRefGoogle Scholar
Also in Planning, Geometry and Complexity of Robot Motion, edited by Schwartz, J., Hopcroft, J. and Sharir, M. (Ablex publishing Corporation, New Jersey, 1987) Ch. 11, pps. 267–281.Google Scholar
2.Hopcroft, J., Schwartz, J. and Sharir, M. (eds), Planning Geometry and Complexity of Robot Motion Planning (Ablex Publishing Co., New Jersey, 1987) Chapter 5, pp. 154–186.Google Scholar
3.Bhatia, P., “Automatic Robotic Assembly from Disassembly: An Approach Using Robot Path Planning, PhD thesis (Indian Institute of Technology, Kampur, India, Center for Robotics, Mechanical Engineering, 10 1992).Google Scholar
4.Bhatia, P., Karnick, H. and Ghosh, A., “Design of a geometric path planner for automated robotic assembly” International Society for Measurement and Control in Robotics (ISMCR) Conference Proceedings,Tsukuba, Japan,Nov., 1992) pp. 559–566.Google Scholar
5.Popplestone, R.J. et al. , “An interpreter for a language for describing assemblies” Artificial Intelligence 14, 79–107 (1980).CrossRefGoogle Scholar
6.Bourjault, A., “Contribution a une Approche Methodolodique de L'Assemblage Automatixe: Elaboration Automatique des Sequence Operatores” PhD thesis (Université de Franche-Comte, Besancon, France, 11, 1984).Google Scholar
7.De Fazio, T.L. and Whitney, D.E., “Simplified generation of all assembly sequences” IEEE Journal of Robotics and Automation 3(6), 640–658 (12, 1988).CrossRefGoogle Scholar
8.de Mello, L.S. Homem and Sanderson, A.C., “A correct and complete algorithm for the generation of mechanical assembly sequences” IEEE Trans, of Robotics and Automation 7(2) 228–240 (04, 1991).CrossRefGoogle Scholar
9.de Mello, L.S. Homem and Sanderson, A.C., “And/or graph representation of all assembly sequences” IEEE Trans, of Robotics and Automation 6(2), 188–189 (04, 1990).CrossRefGoogle Scholar
10.de Mello, L.S. Homem and Sanderson, A.C., “Representations of mechanical assembly sequences” IEEE Trans, of Robotics and Automation 7(3), 221–227 (04, 1991.Google Scholar
11.Lee, S., “Backward assembly planning with assembly cost analysis” IEEE Conference of Robotics and Automation(1992) pp. 2383–2391.Google Scholar
12.Shin, C.K. and Cho, H.S., “On the generation of robotic assembly sequences based on separability and assembly motion stability” Robotica 12, Part 1, 7–15 (1996).CrossRefGoogle Scholar
13.Wolter, J., Chakrabarty, S. and Tsao, J., “Mating constraint languages for assembly sequencing planning” IEEE Conference of Robotics and Automation(May, 1992) pp. 2367–2374.Google Scholar
14.Waarts, J.J., Boneschanscher, N. and Bronsvoort, W.F., “A semi-automatic assembly sequence planner” IEEE Conference of Robotics and Automation(May, 1992) pp. 2431–2438.Google Scholar
15.Bhatia, P., Karnick, H. and Ghosh, A., “Generating symbolic information for intelligent robot manipulation” Intelligent Robotics, Proceedings of the International Symposium on Intelligent Robotics,Bangalore, India(Jan. 2–5, 1991) pp. 640–653.Google Scholar
16.Bhatia, P., Karnick, H. and Ghosh, A., “Assembly by disassembly” International Conference on Engineering Software,India(1989) pp. 193–199.Google Scholar
17.Canny, J.F., The Complexity of Robot Motion Planning. (The MIT Press, Cambridge, 1987) ACM Doctoral Dissertation Award (1987).Google Scholar