Pub Date : 1999-07-24DOI: 10.1109/ISATP.1999.782931
J. Feddema, Patrick Xavier, Russell Brown
Investigates a new aspect of fine motion planning for the micro-domain. As parts approach 1-10 /spl mu/m or less in outside dimensions, interactive forces such as van der Waals and electrostatic forces become major factors that greatly change the assembly sequence and path plans. It has been experimentally shown (Miyazaki and Sato, 1996, and Koyano and Sato, 1996) that assembly plans in the micro-domain are not reversible, motions required to pick up a part are not the reverse of motions required to release a part. The paper develops the mathematics required to determine the goal regions for pick up, holding, and release of a micro-sphere being handled by a rectangular tool.
{"title":"Micro-assembly planning with van der Waals force","authors":"J. Feddema, Patrick Xavier, Russell Brown","doi":"10.1109/ISATP.1999.782931","DOIUrl":"https://doi.org/10.1109/ISATP.1999.782931","url":null,"abstract":"Investigates a new aspect of fine motion planning for the micro-domain. As parts approach 1-10 /spl mu/m or less in outside dimensions, interactive forces such as van der Waals and electrostatic forces become major factors that greatly change the assembly sequence and path plans. It has been experimentally shown (Miyazaki and Sato, 1996, and Koyano and Sato, 1996) that assembly plans in the micro-domain are not reversible, motions required to pick up a part are not the reverse of motions required to release a part. The paper develops the mathematics required to determine the goal regions for pick up, holding, and release of a micro-sphere being handled by a rectangular tool.","PeriodicalId":326575,"journal":{"name":"Proceedings of the 1999 IEEE International Symposium on Assembly and Task Planning (ISATP'99) (Cat. No.99TH8470)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"1999-07-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116691685","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1999-07-24DOI: 10.1109/ISATP.1999.782991
B. Rekiek, P. De Lit, F. Pellichero, E. Falkenauer, A. Delchambre
The equal piles problem applied to assembly lines seeks to assign assembly tasks to a fixed number of workstations in such a way that the workload on each station is nearly equal. We present a new algorithm to treat this special application of the assembly line balancing problem. The algorithm uses a grouping genetic algorithm (GCA), based on an equal piles approach, and heavily modified with respect the precedence constraints between operations. The main concern is the quality of the resulting line in terms of balancing, and its suitability to the user's preferences. The essential and distinct concepts adopted by the method are described along with its step-by-step execution procedure and an illustrative example.
{"title":"Applying the equal piles problem to balance assembly lines","authors":"B. Rekiek, P. De Lit, F. Pellichero, E. Falkenauer, A. Delchambre","doi":"10.1109/ISATP.1999.782991","DOIUrl":"https://doi.org/10.1109/ISATP.1999.782991","url":null,"abstract":"The equal piles problem applied to assembly lines seeks to assign assembly tasks to a fixed number of workstations in such a way that the workload on each station is nearly equal. We present a new algorithm to treat this special application of the assembly line balancing problem. The algorithm uses a grouping genetic algorithm (GCA), based on an equal piles approach, and heavily modified with respect the precedence constraints between operations. The main concern is the quality of the resulting line in terms of balancing, and its suitability to the user's preferences. The essential and distinct concepts adopted by the method are described along with its step-by-step execution procedure and an illustrative example.","PeriodicalId":326575,"journal":{"name":"Proceedings of the 1999 IEEE International Symposium on Assembly and Task Planning (ISATP'99) (Cat. No.99TH8470)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"1999-07-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130658462","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1999-07-24DOI: 10.1109/ISATP.1999.782944
H. Park
A design interface with process plan is an essential part of systems integration process in enterprise resource planning (ERP). By interfacing with a process plan module, a design interface module helps the sequence of individual operations needed for the step-by-step production of a finished product from raw materials. In order to carry out the process planing by means of a computer, it is necessary to develop a method of automatically obtaining the information required for process planning from 3D geometric data by means of a computer. The present study relates to a method of automatically extracting a feature necessary for integrating the process planing into a design by means of a computer from 3D geometric data taken from a CAD system.
{"title":"Framework of design interface module in ERP","authors":"H. Park","doi":"10.1109/ISATP.1999.782944","DOIUrl":"https://doi.org/10.1109/ISATP.1999.782944","url":null,"abstract":"A design interface with process plan is an essential part of systems integration process in enterprise resource planning (ERP). By interfacing with a process plan module, a design interface module helps the sequence of individual operations needed for the step-by-step production of a finished product from raw materials. In order to carry out the process planing by means of a computer, it is necessary to develop a method of automatically obtaining the information required for process planning from 3D geometric data by means of a computer. The present study relates to a method of automatically extracting a feature necessary for integrating the process planing into a design by means of a computer from 3D geometric data taken from a CAD system.","PeriodicalId":326575,"journal":{"name":"Proceedings of the 1999 IEEE International Symposium on Assembly and Task Planning (ISATP'99) (Cat. No.99TH8470)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"1999-07-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130277278","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1999-07-24DOI: 10.1109/ISATP.1999.782943
J. Gao
This paper presents the findings of a systematic investigation, regarding the industrial requirements and current use of product data management (PDM) and computer-aided process planning (CAPP) systems with an emphasis on assembly operations. A pilot investigation was first carried out by sending a questionnaire to a large number of manufacturing companies. Then further investigation was carried out on PDM (through telephone interviews of a selected number of companies) and CAPP (through structured interviews and postal questionnaire with a large enterprise), respectively. The statistic data obtained are processed and analysed.
{"title":"A market survey of industrial requirements for product data management and manufacturing planning systems","authors":"J. Gao","doi":"10.1109/ISATP.1999.782943","DOIUrl":"https://doi.org/10.1109/ISATP.1999.782943","url":null,"abstract":"This paper presents the findings of a systematic investigation, regarding the industrial requirements and current use of product data management (PDM) and computer-aided process planning (CAPP) systems with an emphasis on assembly operations. A pilot investigation was first carried out by sending a questionnaire to a large number of manufacturing companies. Then further investigation was carried out on PDM (through telephone interviews of a selected number of companies) and CAPP (through structured interviews and postal questionnaire with a large enterprise), respectively. The statistic data obtained are processed and analysed.","PeriodicalId":326575,"journal":{"name":"Proceedings of the 1999 IEEE International Symposium on Assembly and Task Planning (ISATP'99) (Cat. No.99TH8470)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"1999-07-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133578437","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1999-07-21DOI: 10.1109/ISATP.1999.782960
J.Y. Kim, H. cho
For successful assembly of flexible parts, informations about their deformation as well as possible misalignments between the holes and their mating parts are essential. Such informations can be acquired from visual sensors. In the case of deformable part assembly, the corrective assembly motion to compensate for such misalignments needs to be determined from the measured informations. Since this assembly process is difficult to design based on the analysis of flexible parts, this paper presents a visual sensor-based error corrective algorithm using a neural network. The performance of the implemented neural network is verified through a series of experimental work. The results show that the proposed error-corrective algorithm is effective in compensating for the lateral misalignment, and that it can be extended to the assembly tasks carried under more general conditions.
{"title":"A vision based error-corrective algorithm for flexible parts assembly","authors":"J.Y. Kim, H. cho","doi":"10.1109/ISATP.1999.782960","DOIUrl":"https://doi.org/10.1109/ISATP.1999.782960","url":null,"abstract":"For successful assembly of flexible parts, informations about their deformation as well as possible misalignments between the holes and their mating parts are essential. Such informations can be acquired from visual sensors. In the case of deformable part assembly, the corrective assembly motion to compensate for such misalignments needs to be determined from the measured informations. Since this assembly process is difficult to design based on the analysis of flexible parts, this paper presents a visual sensor-based error corrective algorithm using a neural network. The performance of the implemented neural network is verified through a series of experimental work. The results show that the proposed error-corrective algorithm is effective in compensating for the lateral misalignment, and that it can be extended to the assembly tasks carried under more general conditions.","PeriodicalId":326575,"journal":{"name":"Proceedings of the 1999 IEEE International Symposium on Assembly and Task Planning (ISATP'99) (Cat. No.99TH8470)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"1999-07-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115763432","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1999-07-21DOI: 10.1109/ISATP.1999.782936
O. Barron-Cano, J. L. Gordillo
Presents a modular computer system for manufacturability analysis of robot-made assemblies. In order to say if a specific design can be assembled in a specific robotic cell, designers must answer a number of questions about sequencing, stability, fixturing, grasping, motion planning and tool accessibility. Although several tools have been developed to compute some of the answers needed by designers, they have been developed in an isolated fashion making it hard to integrate their results. Each tool uses its own object models (which highlight some particular analysis features), sets of constraints, scale factors, and base units (inches, mm, etc.) leading to incompatibility problems when designers need to chain them, i.e. to use the output from one tool as the input for another one.
{"title":"An integrative tool for manufacturability analysis of assemblies","authors":"O. Barron-Cano, J. L. Gordillo","doi":"10.1109/ISATP.1999.782936","DOIUrl":"https://doi.org/10.1109/ISATP.1999.782936","url":null,"abstract":"Presents a modular computer system for manufacturability analysis of robot-made assemblies. In order to say if a specific design can be assembled in a specific robotic cell, designers must answer a number of questions about sequencing, stability, fixturing, grasping, motion planning and tool accessibility. Although several tools have been developed to compute some of the answers needed by designers, they have been developed in an isolated fashion making it hard to integrate their results. Each tool uses its own object models (which highlight some particular analysis features), sets of constraints, scale factors, and base units (inches, mm, etc.) leading to incompatibility problems when designers need to chain them, i.e. to use the output from one tool as the input for another one.","PeriodicalId":326575,"journal":{"name":"Proceedings of the 1999 IEEE International Symposium on Assembly and Task Planning (ISATP'99) (Cat. No.99TH8470)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"1999-07-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125942903","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1999-07-21DOI: 10.1109/ISATP.1999.782966
Y. Aiyama, T. Arai
In the robot manipulation field, a dexterous and easy manipulation method which uses the environment around an object is defined as graspless manipulation. This has high dexterity, but also has high complexity to make a plan of how to move an object and fingers. We introduce a "skill based control system" to solve this problem. Skill describes one fixed form of operation; grasping a cylinder, grasping a box, tumbling a box etc. By describing complex but fixed form operation of fingers as a skill, programming cost of the user application is reduced. We use a box picking-up operation as an example of a dexterous task and experiment with a multi-fingered hand system.
{"title":"Box picking-up with graspless manipulation skill","authors":"Y. Aiyama, T. Arai","doi":"10.1109/ISATP.1999.782966","DOIUrl":"https://doi.org/10.1109/ISATP.1999.782966","url":null,"abstract":"In the robot manipulation field, a dexterous and easy manipulation method which uses the environment around an object is defined as graspless manipulation. This has high dexterity, but also has high complexity to make a plan of how to move an object and fingers. We introduce a \"skill based control system\" to solve this problem. Skill describes one fixed form of operation; grasping a cylinder, grasping a box, tumbling a box etc. By describing complex but fixed form operation of fingers as a skill, programming cost of the user application is reduced. We use a box picking-up operation as an example of a dexterous task and experiment with a multi-fingered hand system.","PeriodicalId":326575,"journal":{"name":"Proceedings of the 1999 IEEE International Symposium on Assembly and Task Planning (ISATP'99) (Cat. No.99TH8470)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"1999-07-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116824734","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1999-07-21DOI: 10.1109/ISATP.1999.782994
A. Almeida, C. Ramos, S. Silva
This paper presents a decision support system (DSS) based architecture and a new method for the dynamic scheduling of manufacturing systems. The proposed architecture is based on the DSS paradigm. The typical scheduling problems, namely the order allocation and order sequencing problems, are to be solved for a given production plan which defines a set of manufacturing orders to be processed. These specify product types to be manufactured, their quantities and due dates. The allocation problem deals with the assignment of n orders to m manufacturing processors, under the given production plan, and the solution to the sequencing problem identifies the input sequence and the instants of processing of the assigned orders on each manufacturing processor.
{"title":"Dynamic scheduling of manufacturing orders: a decision support system approach","authors":"A. Almeida, C. Ramos, S. Silva","doi":"10.1109/ISATP.1999.782994","DOIUrl":"https://doi.org/10.1109/ISATP.1999.782994","url":null,"abstract":"This paper presents a decision support system (DSS) based architecture and a new method for the dynamic scheduling of manufacturing systems. The proposed architecture is based on the DSS paradigm. The typical scheduling problems, namely the order allocation and order sequencing problems, are to be solved for a given production plan which defines a set of manufacturing orders to be processed. These specify product types to be manufactured, their quantities and due dates. The allocation problem deals with the assignment of n orders to m manufacturing processors, under the given production plan, and the solution to the sequencing problem identifies the input sequence and the instants of processing of the assigned orders on each manufacturing processor.","PeriodicalId":326575,"journal":{"name":"Proceedings of the 1999 IEEE International Symposium on Assembly and Task Planning (ISATP'99) (Cat. No.99TH8470)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"1999-07-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114532929","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1999-07-21DOI: 10.1109/ISATP.1999.782965
H. Kijimoto, T. Arai, Y. Aiyama, T. Yamamoto
Graspless manipulation is a process in which objects are manipulated by making use of the environment surrounding it. Graspless manipulation enables a robot to handle objects that cannot be rigidly grasped due to the environment presenting obstacles in the way of its fingers. However, in the manipulation, the handled objects can easily slip out of the robot's fingers. Therefore it is necessary to make a plan for robust manipulation, suitable for various environments. We propose a planning method for graspless manipulation. First, considering the stability of the manipulation itself, a stability index is proposed. Then, the topological relationships are expressed among the object and its environment. Using the stability index, feasible motions are obtained as a safe route from one state of relationships to another. By means of these regions being connected, a plan of a manipulation can be obtained. The proposed method is simulated and experimented.
{"title":"Performance analysis and planning in graspless manipulation","authors":"H. Kijimoto, T. Arai, Y. Aiyama, T. Yamamoto","doi":"10.1109/ISATP.1999.782965","DOIUrl":"https://doi.org/10.1109/ISATP.1999.782965","url":null,"abstract":"Graspless manipulation is a process in which objects are manipulated by making use of the environment surrounding it. Graspless manipulation enables a robot to handle objects that cannot be rigidly grasped due to the environment presenting obstacles in the way of its fingers. However, in the manipulation, the handled objects can easily slip out of the robot's fingers. Therefore it is necessary to make a plan for robust manipulation, suitable for various environments. We propose a planning method for graspless manipulation. First, considering the stability of the manipulation itself, a stability index is proposed. Then, the topological relationships are expressed among the object and its environment. Using the stability index, feasible motions are obtained as a safe route from one state of relationships to another. By means of these regions being connected, a plan of a manipulation can be obtained. The proposed method is simulated and experimented.","PeriodicalId":326575,"journal":{"name":"Proceedings of the 1999 IEEE International Symposium on Assembly and Task Planning (ISATP'99) (Cat. No.99TH8470)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"1999-07-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124204495","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1999-07-21DOI: 10.1109/ISATP.1999.782950
A. Lambert
From graphical methods for optimal disassembly sequence generation, a new concept is applied based on mathematical programming. The method described enhances flexibility and offers the possibility of extension of the original problem. This paper discusses optimal disassembly sequence generation and illustrates some of its possibilities by considering an instructive case.
{"title":"Optimal disassembly sequence generation for combined material recycling and part reuse","authors":"A. Lambert","doi":"10.1109/ISATP.1999.782950","DOIUrl":"https://doi.org/10.1109/ISATP.1999.782950","url":null,"abstract":"From graphical methods for optimal disassembly sequence generation, a new concept is applied based on mathematical programming. The method described enhances flexibility and offers the possibility of extension of the original problem. This paper discusses optimal disassembly sequence generation and illustrates some of its possibilities by considering an instructive case.","PeriodicalId":326575,"journal":{"name":"Proceedings of the 1999 IEEE International Symposium on Assembly and Task Planning (ISATP'99) (Cat. No.99TH8470)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"1999-07-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128423789","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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