Pub Date : 1999-07-21DOI: 10.1109/ISATP.1999.782989
J. Danloy, F. Petit, A. Leroy, P. De Lit, B. Rekiek
Presents a pragmatic-approach for a systematic product structure analysis and precedence graph determination. Both tasks are performed on a unique product model based on the liaison diagram formalism and designed to deal with variants. A simple enrichment of the liaison description allows us to make the proposed approach easy to implement and considerably reduces the amount of information to be introduced in the model. All the concepts presented in the paper are applied to an electromechanical product (safety switch). This work is part of a project related to the global interactive product and assembly line design problem (CISAL project).
{"title":"A pragmatic approach for precedence graph generation","authors":"J. Danloy, F. Petit, A. Leroy, P. De Lit, B. Rekiek","doi":"10.1109/ISATP.1999.782989","DOIUrl":"https://doi.org/10.1109/ISATP.1999.782989","url":null,"abstract":"Presents a pragmatic-approach for a systematic product structure analysis and precedence graph determination. Both tasks are performed on a unique product model based on the liaison diagram formalism and designed to deal with variants. A simple enrichment of the liaison description allows us to make the proposed approach easy to implement and considerably reduces the amount of information to be introduced in the model. All the concepts presented in the paper are applied to an electromechanical product (safety switch). This work is part of a project related to the global interactive product and assembly line design problem (CISAL project).","PeriodicalId":326575,"journal":{"name":"Proceedings of the 1999 IEEE International Symposium on Assembly and Task Planning (ISATP'99) (Cat. No.99TH8470)","volume":"49 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-07-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122872596","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.1999.782951
G. Eckerth, T. Bonker
In the operation center closed loop economy different enterprises are cooperating in refurbishing and reproduction of various product groups. The organisational structure of such an operation center is described as a network. By clustering different product groups semiautomated disassembly technologies in combination with internal and external information flow lead to efficient processing. Measures for quality assurance confirm reusable and reintegrationable parts and components, which assumes new qualification structures of the employees.
{"title":"Operation center closed loop economy-assembly and disassembly for reuse in one plant","authors":"G. Eckerth, T. Bonker","doi":"10.1109/ISATP.1999.782951","DOIUrl":"https://doi.org/10.1109/ISATP.1999.782951","url":null,"abstract":"In the operation center closed loop economy different enterprises are cooperating in refurbishing and reproduction of various product groups. The organisational structure of such an operation center is described as a network. By clustering different product groups semiautomated disassembly technologies in combination with internal and external information flow lead to efficient processing. Measures for quality assurance confirm reusable and reintegrationable parts and components, which assumes new qualification structures of the employees.","PeriodicalId":326575,"journal":{"name":"Proceedings of the 1999 IEEE International Symposium on Assembly and Task Planning (ISATP'99) (Cat. No.99TH8470)","volume":"111 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-07-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123991068","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.1999.782938
J. D. Adams, S. Gerbino, D. Whitney
Screw theory is well known to do kinematic computations. Recently it has been used to create kinematic models of assembly features so allowing assembly analysis. Motion limit analysis uses the mathematics of screw theory to model the ability of mechanical assembly features to allow or constrain rigid body motions in six degrees of freedom. A user of this theory is able to determine the directions and quantitative amounts of possible finite rigid body motions of a part that is being added to an assembly via calculation applied to a defined set of assembly features. The ability to calculate rigid body motions of a part is important for enabling in-process adjustment during assembly to precisely establish key assembly dimensions. MLA software is a part of a suite of software programs used to do assembly analysis.
{"title":"Application of screw theory to motion analysis of assemblies of rigid parts","authors":"J. D. Adams, S. Gerbino, D. Whitney","doi":"10.1109/ISATP.1999.782938","DOIUrl":"https://doi.org/10.1109/ISATP.1999.782938","url":null,"abstract":"Screw theory is well known to do kinematic computations. Recently it has been used to create kinematic models of assembly features so allowing assembly analysis. Motion limit analysis uses the mathematics of screw theory to model the ability of mechanical assembly features to allow or constrain rigid body motions in six degrees of freedom. A user of this theory is able to determine the directions and quantitative amounts of possible finite rigid body motions of a part that is being added to an assembly via calculation applied to a defined set of assembly features. The ability to calculate rigid body motions of a part is important for enabling in-process adjustment during assembly to precisely establish key assembly dimensions. MLA software is a part of a suite of software programs used to do assembly analysis.","PeriodicalId":326575,"journal":{"name":"Proceedings of the 1999 IEEE International Symposium on Assembly and Task Planning (ISATP'99) (Cat. No.99TH8470)","volume":"457 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-07-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125191026","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.1999.782952
D. Barral, J. Perrin, E. Dombre, A. Liégeois
High productivity requires that robot manipulators perform complex tasks in minimum time. The paper presents an evolutionary simulated annealing (ESA) algorithm for optimizing an important class of complex tasks of point-to-point moves, such as mechanical assembly, electronic component insertion, and spot welding. This algorithm combines the basic principles of two major heuristic search methods: simulated annealing and genetic algorithms. Indeed, these methods are commonly used to solve the well-known traveling salesman problem (TSP), and the point ordering problem in robotics is very similar to the TSP in mathematics. The three algorithms have been implemented in a computer-aided design (CAD) software system, CATIA. Experimental results show success factors for using ESA.
{"title":"An evolutionary simulated annealing algorithm for optimizing robotic task point ordering","authors":"D. Barral, J. Perrin, E. Dombre, A. Liégeois","doi":"10.1109/ISATP.1999.782952","DOIUrl":"https://doi.org/10.1109/ISATP.1999.782952","url":null,"abstract":"High productivity requires that robot manipulators perform complex tasks in minimum time. The paper presents an evolutionary simulated annealing (ESA) algorithm for optimizing an important class of complex tasks of point-to-point moves, such as mechanical assembly, electronic component insertion, and spot welding. This algorithm combines the basic principles of two major heuristic search methods: simulated annealing and genetic algorithms. Indeed, these methods are commonly used to solve the well-known traveling salesman problem (TSP), and the point ordering problem in robotics is very similar to the TSP in mathematics. The three algorithms have been implemented in a computer-aided design (CAD) software system, CATIA. Experimental results show success factors for using ESA.","PeriodicalId":326575,"journal":{"name":"Proceedings of the 1999 IEEE International Symposium on Assembly and Task Planning (ISATP'99) (Cat. No.99TH8470)","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-07-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126047329","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.1999.782939
C. Hocaoglu, A. Sanderson
The problem of assembly operation feasibility is considered as a hierarchy of feasibility tests: local feasibility and global feasibility. We consider the problem of global feasibility as a multi-dimensional optimization problem which is approached using evolutionary computation techniques. A novel, iterative, multiresolution path representation is used as a basis for the evolutionary coding. If a successful path is found early in the search hierarchy (at a low level of resolution), then further expansion of that portion of the path search is not necessary. This advantage is mapped into the encoded search space and adjusts the path resolution accordingly. The algorithm can accommodate different optimization criteria, changes in these criteria, and is capable of finding multiple, alternative paths simultaneously. The effectiveness of the algorithm is demonstrated on a number of multi-dimensional path planning problems for assembly.
{"title":"Evolutionary multiple path planner for assembly","authors":"C. Hocaoglu, A. Sanderson","doi":"10.1109/ISATP.1999.782939","DOIUrl":"https://doi.org/10.1109/ISATP.1999.782939","url":null,"abstract":"The problem of assembly operation feasibility is considered as a hierarchy of feasibility tests: local feasibility and global feasibility. We consider the problem of global feasibility as a multi-dimensional optimization problem which is approached using evolutionary computation techniques. A novel, iterative, multiresolution path representation is used as a basis for the evolutionary coding. If a successful path is found early in the search hierarchy (at a low level of resolution), then further expansion of that portion of the path search is not necessary. This advantage is mapped into the encoded search space and adjusts the path resolution accordingly. The algorithm can accommodate different optimization criteria, changes in these criteria, and is capable of finding multiple, alternative paths simultaneously. The effectiveness of the algorithm is demonstrated on a number of multi-dimensional path planning problems for assembly.","PeriodicalId":326575,"journal":{"name":"Proceedings of the 1999 IEEE International Symposium on Assembly and Task Planning (ISATP'99) (Cat. No.99TH8470)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-07-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124400672","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.1999.782957
H. Ozaki, Chang-Jun Lin, T. Shimogawa
The unified trajectory generation algorithm proposed is applied to three types of trajectory generation: 1) trajectories of a workpiece manipulated to avoid obstacles; 2) joint trajectories of a manipulator with end-effector path constraints; and 3) collision-free joint trajectories of a manipulator with fixed or non-fixed working time. The obtained results are satisfactory and the advantages of the proposed method are confirmed: 1) it is extended to be applied to the time optimal problem, 2) it is applicable to the problem of an arbitrary performance index to evaluate trajectories, 3) it is applicable to the problem which has very complex constraints such as collision-free, kinematic, and full dynamic constraints, 4) it can generate trajectories with continuous time derivative curves, and 5) it needs less memory to store the trajectories generated.
{"title":"A unified trajectory generation algorithm for manipulators by using B-spline","authors":"H. Ozaki, Chang-Jun Lin, T. Shimogawa","doi":"10.1109/ISATP.1999.782957","DOIUrl":"https://doi.org/10.1109/ISATP.1999.782957","url":null,"abstract":"The unified trajectory generation algorithm proposed is applied to three types of trajectory generation: 1) trajectories of a workpiece manipulated to avoid obstacles; 2) joint trajectories of a manipulator with end-effector path constraints; and 3) collision-free joint trajectories of a manipulator with fixed or non-fixed working time. The obtained results are satisfactory and the advantages of the proposed method are confirmed: 1) it is extended to be applied to the time optimal problem, 2) it is applicable to the problem of an arbitrary performance index to evaluate trajectories, 3) it is applicable to the problem which has very complex constraints such as collision-free, kinematic, and full dynamic constraints, 4) it can generate trajectories with continuous time derivative curves, and 5) it needs less memory to store the trajectories generated.","PeriodicalId":326575,"journal":{"name":"Proceedings of the 1999 IEEE International Symposium on Assembly and Task Planning (ISATP'99) (Cat. No.99TH8470)","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-07-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132705704","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.1999.782962
S. Hirai, T. Wada, S. Kawamura
We propose a new control and planning method for indirect simultaneous positioning of a deformable object. First, a simplified physical model of a deformable textile fabric is developed for its positioning operation. Next, indirect simultaneous positioning of a fabric is formulated using the proposed model. Based on a linearized model of a fabric, we propose a novel control method for its indirect simultaneous positioning with a vision sensor. In this method, multiple positioned points can be guided to the desired locations by controlling the locations of manipulated points. Experimental results show the robustness of our proposed method against the discrepancy between a real fabric and its model. Finally, planning of the locations of manipulated points is discussed based on a fabric model.
{"title":"Control and planning in indirect simultaneous positioning of multiple points on deformable objects","authors":"S. Hirai, T. Wada, S. Kawamura","doi":"10.1109/ISATP.1999.782962","DOIUrl":"https://doi.org/10.1109/ISATP.1999.782962","url":null,"abstract":"We propose a new control and planning method for indirect simultaneous positioning of a deformable object. First, a simplified physical model of a deformable textile fabric is developed for its positioning operation. Next, indirect simultaneous positioning of a fabric is formulated using the proposed model. Based on a linearized model of a fabric, we propose a novel control method for its indirect simultaneous positioning with a vision sensor. In this method, multiple positioned points can be guided to the desired locations by controlling the locations of manipulated points. Experimental results show the robustness of our proposed method against the discrepancy between a real fabric and its model. Finally, planning of the locations of manipulated points is discussed based on a fabric model.","PeriodicalId":326575,"journal":{"name":"Proceedings of the 1999 IEEE International Symposium on Assembly and Task Planning (ISATP'99) (Cat. No.99TH8470)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-07-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130448565","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.1999.782968
S. Aramaki, I. Nagasawa, S. Kurono, T. Nagai, T. Morita, T. Suetsugu
Presents a knowledge representation and programming method for robotic assembly tasks. The methodology is explained through robotic assembly tasks with position and force control. The state space of assembly objects is abstractly defined using a qualitative landmark which consists of the state of an object and a robot. The current state and sensor input determines the next robot action, and the state of a robot is made to lead to the goal state. These concepts are formulated by using a finite state automaton. The action sequence is defined based on the control hierarchy structure which consists of four levels (control primitive level, control skill level, skill level and task level). The complicated assembly task can be represented by product and concatenation of control primitives in a lower level and various tasks can be defined by adding new control primitives. In the paper, the concept of a CRS (constraint reduction system) is introduced for making a robot task program. The CRS is realized by extended Prolog. All the action and primitives are considered as a process and can be uniformly described by the reduction rule of the CRS.
{"title":"The knowledge representation and programming for robotic assembly task","authors":"S. Aramaki, I. Nagasawa, S. Kurono, T. Nagai, T. Morita, T. Suetsugu","doi":"10.1109/ISATP.1999.782968","DOIUrl":"https://doi.org/10.1109/ISATP.1999.782968","url":null,"abstract":"Presents a knowledge representation and programming method for robotic assembly tasks. The methodology is explained through robotic assembly tasks with position and force control. The state space of assembly objects is abstractly defined using a qualitative landmark which consists of the state of an object and a robot. The current state and sensor input determines the next robot action, and the state of a robot is made to lead to the goal state. These concepts are formulated by using a finite state automaton. The action sequence is defined based on the control hierarchy structure which consists of four levels (control primitive level, control skill level, skill level and task level). The complicated assembly task can be represented by product and concatenation of control primitives in a lower level and various tasks can be defined by adding new control primitives. In the paper, the concept of a CRS (constraint reduction system) is introduced for making a robot task program. The CRS is realized by extended Prolog. All the action and primitives are considered as a process and can be uniformly described by the reduction rule of the CRS.","PeriodicalId":326575,"journal":{"name":"Proceedings of the 1999 IEEE International Symposium on Assembly and Task Planning (ISATP'99) (Cat. No.99TH8470)","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-07-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133115969","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.1999.782941
P. Lutz
This paper explains the necessity of integrating the design of testing systems into the process of assembly system design. In this way, the authors propose a method to include testing in the method to design assembly systems from the Laboratory of Automation in Besancon. The different aspects of the testing problem are explained and formalized with three kinds of variables: aim variable, operative variable and action variable. These variables enable one to design the testing system. A five step process is also presented which is used to generate assembly plans including testing operations and to select the plans according to a testing strategy: 1) establishment of initial data on the product, leading to an operative model of the product; 2) the assembly plan generation including the testing features; 3) the establishment of some knowledge of the operative testing by using a multicriteria analysis; 4) a first selection among the assembly plans generated; and 5) a second selection from among the plans remaining after the first selection.
{"title":"The testing and assembly system design: process to select assembly plans according to a testing strategy","authors":"P. Lutz","doi":"10.1109/ISATP.1999.782941","DOIUrl":"https://doi.org/10.1109/ISATP.1999.782941","url":null,"abstract":"This paper explains the necessity of integrating the design of testing systems into the process of assembly system design. In this way, the authors propose a method to include testing in the method to design assembly systems from the Laboratory of Automation in Besancon. The different aspects of the testing problem are explained and formalized with three kinds of variables: aim variable, operative variable and action variable. These variables enable one to design the testing system. A five step process is also presented which is used to generate assembly plans including testing operations and to select the plans according to a testing strategy: 1) establishment of initial data on the product, leading to an operative model of the product; 2) the assembly plan generation including the testing features; 3) the establishment of some knowledge of the operative testing by using a multicriteria analysis; 4) a first selection among the assembly plans generated; and 5) a second selection from among the plans remaining after the first selection.","PeriodicalId":326575,"journal":{"name":"Proceedings of the 1999 IEEE International Symposium on Assembly and Task Planning (ISATP'99) (Cat. No.99TH8470)","volume":"81 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-07-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117088415","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.1999.782985
J. Bautista, M. Mateo, R. Companys, A. Corominas
Sequencing units on assembly lines in order to attenuate rate variations in resource consumption is a problem that has received growing attention in recent years. In this work, we deal with a particular case, the constrained output rate variation (CORV) problem, that seems to be better adapted than other views to real industry problems, especially in car production systems. After giving a general introduction and formulation, a procedure is described to obtain the searched sequence.
{"title":"A procedure to solve the CORV problem","authors":"J. Bautista, M. Mateo, R. Companys, A. Corominas","doi":"10.1109/ISATP.1999.782985","DOIUrl":"https://doi.org/10.1109/ISATP.1999.782985","url":null,"abstract":"Sequencing units on assembly lines in order to attenuate rate variations in resource consumption is a problem that has received growing attention in recent years. In this work, we deal with a particular case, the constrained output rate variation (CORV) problem, that seems to be better adapted than other views to real industry problems, especially in car production systems. After giving a general introduction and formulation, a procedure is described to obtain the searched sequence.","PeriodicalId":326575,"journal":{"name":"Proceedings of the 1999 IEEE International Symposium on Assembly and Task Planning (ISATP'99) (Cat. No.99TH8470)","volume":"57 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-07-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114576077","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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