Pub Date : 1999-07-21DOI: 10.1109/ISATP.1999.782972
David Hsu, J.-C. Latcombe, S. Sorkin
This paper presents an efficient algorithm for optimizing the base location of a robot manipulator in an environment cluttered with obstacles, in order to execute specified tasks as fast as possible. The algorithm uses randomized motion planning techniques and exploits geometric "coherence" in configuration space to achieve fast computation. The performance of the algorithm is demonstrated on both synthetic examples and real-life CAD data from the automotive industry. The computation time ranges from under a minute for simple problems to a few minutes for more complex ones.
{"title":"Placing a robot manipulator amid obstacles for optimized execution","authors":"David Hsu, J.-C. Latcombe, S. Sorkin","doi":"10.1109/ISATP.1999.782972","DOIUrl":"https://doi.org/10.1109/ISATP.1999.782972","url":null,"abstract":"This paper presents an efficient algorithm for optimizing the base location of a robot manipulator in an environment cluttered with obstacles, in order to execute specified tasks as fast as possible. The algorithm uses randomized motion planning techniques and exploits geometric \"coherence\" in configuration space to achieve fast computation. The performance of the algorithm is demonstrated on both synthetic examples and real-life CAD data from the automotive industry. The computation time ranges from under a minute for simple problems to a few minutes for more complex ones.","PeriodicalId":326575,"journal":{"name":"Proceedings of the 1999 IEEE International Symposium on Assembly and Task Planning (ISATP'99) (Cat. No.99TH8470)","volume":"651-653 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":"125346498","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.1999.782956
M. Galicki, I. Pająk
An approach to the time optimal control of a kinematically redundant manipulator subject to state equality constraints is proposed. The solution is based on an approximation of the prior control set by means of a strictly convex set, with arbitrary accuracy in the Hausdorff sense. This approach produces continuous optimal controls which may be used to provide nominal inputs for online control. Furthermore, the corresponding optimal controls thus obtained retain (in a limit) a bang-bang form if the error of approximation approaches 0. A computer example involving a planar redundant manipulator of three revolute kinematic pairs whose the end-effector moves along a prescribed geometric path, is given.
{"title":"Optimal motions of redundant manipulators with state equality constraints","authors":"M. Galicki, I. Pająk","doi":"10.1109/ISATP.1999.782956","DOIUrl":"https://doi.org/10.1109/ISATP.1999.782956","url":null,"abstract":"An approach to the time optimal control of a kinematically redundant manipulator subject to state equality constraints is proposed. The solution is based on an approximation of the prior control set by means of a strictly convex set, with arbitrary accuracy in the Hausdorff sense. This approach produces continuous optimal controls which may be used to provide nominal inputs for online control. Furthermore, the corresponding optimal controls thus obtained retain (in a limit) a bang-bang form if the error of approximation approaches 0. A computer example involving a planar redundant manipulator of three revolute kinematic pairs whose the end-effector moves along a prescribed geometric path, is given.","PeriodicalId":326575,"journal":{"name":"Proceedings of the 1999 IEEE International Symposium on Assembly and Task Planning (ISATP'99) (Cat. No.99TH8470)","volume":"44 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":"126747080","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.1999.782927
C. Mascle
Proposes an approach for a computer-aided assembly (CAA) system, which makes use of software agent technology and deals with a representation of assembly features. The proposed system corresponds to a multi-agent society. Each agent solves problems autonomously by itself and sometimes cooperates with other agents communicating asynchronously. The system never thinks like a assembly engineer; but makes it possible to support engineers in doing creative methodology, and producing new ideas better than the conventional CAA.
{"title":"Feature-based assembly model and multi-agents system structure for computer-aided assembly","authors":"C. Mascle","doi":"10.1109/ISATP.1999.782927","DOIUrl":"https://doi.org/10.1109/ISATP.1999.782927","url":null,"abstract":"Proposes an approach for a computer-aided assembly (CAA) system, which makes use of software agent technology and deals with a representation of assembly features. The proposed system corresponds to a multi-agent society. Each agent solves problems autonomously by itself and sometimes cooperates with other agents communicating asynchronously. The system never thinks like a assembly engineer; but makes it possible to support engineers in doing creative methodology, and producing new ideas better than the conventional CAA.","PeriodicalId":326575,"journal":{"name":"Proceedings of the 1999 IEEE International Symposium on Assembly and Task Planning (ISATP'99) (Cat. No.99TH8470)","volume":"53 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":"127035549","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.1999.782996
P. Moutarlier, L. Geneste, B. Grabot
Industrial schedulers try to take into account more and more complex aspects of manufacturing and become as a consequence more difficult to use efficiently. We suggest a modular framework in order to support the development of schedulers better adapted to the technological constraints of the manufacturing cell they are used in. In order to decrease the time needed to develop such schedulers, an extensive reuse of past developments is made possible by the object paradigm through the definition of a powerful yet generic data model. A fully modular architecture has been developed thanks to communication standards like CORBA, MMS and STEP. The first scheduler developed within this framework, called TAPAS (the almost perfect approach to scheduling) and used in an industrial context is described.
{"title":"A modular tool for FMS scheduling","authors":"P. Moutarlier, L. Geneste, B. Grabot","doi":"10.1109/ISATP.1999.782996","DOIUrl":"https://doi.org/10.1109/ISATP.1999.782996","url":null,"abstract":"Industrial schedulers try to take into account more and more complex aspects of manufacturing and become as a consequence more difficult to use efficiently. We suggest a modular framework in order to support the development of schedulers better adapted to the technological constraints of the manufacturing cell they are used in. In order to decrease the time needed to develop such schedulers, an extensive reuse of past developments is made possible by the object paradigm through the definition of a powerful yet generic data model. A fully modular architecture has been developed thanks to communication standards like CORBA, MMS and STEP. The first scheduler developed within this framework, called TAPAS (the almost perfect approach to scheduling) and used in an industrial context is described.","PeriodicalId":326575,"journal":{"name":"Proceedings of the 1999 IEEE International Symposium on Assembly and Task Planning (ISATP'99) (Cat. No.99TH8470)","volume":"123 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":"123489037","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.1999.782970
W. Xu, J. Mills
A new technique for the position and orientation calibration of robots is presented. Three digital dial gauges are employed as sensors to determine the position of three points on the robot end-effector and the robot position errors. The orientation errors of the robot end-effector is calculated subsequently with the use of the position data collected. The repeatability of robots is also easily evaluated by using this measurement set-up. The experimental results show that the measurement set-up design is successful. This system represents an effective, low cost and feasible technique for industrial robot calibration in laboratory projects and industrial environments.
{"title":"A new approach to the position and orientation calibration of robots","authors":"W. Xu, J. Mills","doi":"10.1109/ISATP.1999.782970","DOIUrl":"https://doi.org/10.1109/ISATP.1999.782970","url":null,"abstract":"A new technique for the position and orientation calibration of robots is presented. Three digital dial gauges are employed as sensors to determine the position of three points on the robot end-effector and the robot position errors. The orientation errors of the robot end-effector is calculated subsequently with the use of the position data collected. The repeatability of robots is also easily evaluated by using this measurement set-up. The experimental results show that the measurement set-up design is successful. This system represents an effective, low cost and feasible technique for industrial robot calibration in laboratory projects and industrial environments.","PeriodicalId":326575,"journal":{"name":"Proceedings of the 1999 IEEE International Symposium on Assembly and Task Planning (ISATP'99) (Cat. No.99TH8470)","volume":"51 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":"123236051","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.1999.782976
Qingchuan Fu, M. Branicky
Many robotic assembly tasks can be viewed as multi-tier peg-in-hole, or "peg-in-maze" problems. Such tasks are hybrid system control problems since they combine continuous movement with event detection. This paper presents Hybrid cc as a software tool for simulating hybrid systems and uses it to simulate two-dimensional multi-tier peg-in-hole problems.
{"title":"Using hybrid cc to simulate multi-tier peg-in-hole problems","authors":"Qingchuan Fu, M. Branicky","doi":"10.1109/ISATP.1999.782976","DOIUrl":"https://doi.org/10.1109/ISATP.1999.782976","url":null,"abstract":"Many robotic assembly tasks can be viewed as multi-tier peg-in-hole, or \"peg-in-maze\" problems. Such tasks are hybrid system control problems since they combine continuous movement with event detection. This paper presents Hybrid cc as a software tool for simulating hybrid systems and uses it to simulate two-dimensional multi-tier peg-in-hole problems.","PeriodicalId":326575,"journal":{"name":"Proceedings of the 1999 IEEE International Symposium on Assembly and Task Planning (ISATP'99) (Cat. No.99TH8470)","volume":"21 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":"131812862","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.1999.782980
J. Rocha, A. Moura, C. Ramos, Z. Vale
This paper deals with a system called TPMS (task planning for manufacturing systems). The main aim of this system is to automatically generate programs or sets of commands for robots, AGV's, numerical control machines, etc., without spending much time programming the flexible manufacturing system components. A description of how to automatically generate a high level plan for the task is presented as well as a methodology to automatically calculate the duration of each operation from the machine program. The main contributions include: to link symbolic and execution planning; the referred aims at working for complete manufacturing systems (not for controlling only one robot); different industrial operations (assembly, welding, drilling, etc.) can be considered at the same time.
{"title":"Process and execution planning for manufacturing systems","authors":"J. Rocha, A. Moura, C. Ramos, Z. Vale","doi":"10.1109/ISATP.1999.782980","DOIUrl":"https://doi.org/10.1109/ISATP.1999.782980","url":null,"abstract":"This paper deals with a system called TPMS (task planning for manufacturing systems). The main aim of this system is to automatically generate programs or sets of commands for robots, AGV's, numerical control machines, etc., without spending much time programming the flexible manufacturing system components. A description of how to automatically generate a high level plan for the task is presented as well as a methodology to automatically calculate the duration of each operation from the machine program. The main contributions include: to link symbolic and execution planning; the referred aims at working for complete manufacturing systems (not for controlling only one robot); different industrial operations (assembly, welding, drilling, etc.) can be considered at the same time.","PeriodicalId":326575,"journal":{"name":"Proceedings of the 1999 IEEE International Symposium on Assembly and Task Planning (ISATP'99) (Cat. No.99TH8470)","volume":"13 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":"130361322","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.1999.782948
F. Touzanne, C. Perrard
This paper introduces the tools used to represent disassembly processes. These tools have to allow designers representing processes at each design stages and have to allow time evaluation of process performances. Three levels of precision in the description of disassembly processes are defined: level 0 which represents the process at product level, level 1 which is an operating mode level, and level 2 which is a system level. For each level, a representation tool is given. The more precise level allows process simulation and the evaluation of performances.
{"title":"Representation of disassembly processes in order to allow time evaluation of their performances","authors":"F. Touzanne, C. Perrard","doi":"10.1109/ISATP.1999.782948","DOIUrl":"https://doi.org/10.1109/ISATP.1999.782948","url":null,"abstract":"This paper introduces the tools used to represent disassembly processes. These tools have to allow designers representing processes at each design stages and have to allow time evaluation of process performances. Three levels of precision in the description of disassembly processes are defined: level 0 which represents the process at product level, level 1 which is an operating mode level, and level 2 which is a system level. For each level, a representation tool is given. The more precise level allows process simulation and the evaluation of performances.","PeriodicalId":326575,"journal":{"name":"Proceedings of the 1999 IEEE International Symposium on Assembly and Task Planning (ISATP'99) (Cat. No.99TH8470)","volume":"49 12 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":"134143121","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.1999.783000
R. Steringer, M. Schleicher, K. Hingerl
HoME (holistic matrix evaluation) is a software tool for decision support and resource planning for assembly line sequencing and balancing. HoME is based on new method in visualization, where know how from experts can be integrated either by experts themselves or in fuzzy logic applications. Thereby the planner is relieved from routine work. HoME makes use of a discrete event simulation model, which feeds back the actual workload of each resource at each instant. With this visualization tool, resource planning can be performed by assessing the economical effect of group work. We evaluate the benefits by introducing HoME in an industrial environment. Additional costs due to the need for unfinished working cycles as well as worker idle times and the total personnel demand are reduced.
{"title":"Sequence evaluation and personnel planning with HoME","authors":"R. Steringer, M. Schleicher, K. Hingerl","doi":"10.1109/ISATP.1999.783000","DOIUrl":"https://doi.org/10.1109/ISATP.1999.783000","url":null,"abstract":"HoME (holistic matrix evaluation) is a software tool for decision support and resource planning for assembly line sequencing and balancing. HoME is based on new method in visualization, where know how from experts can be integrated either by experts themselves or in fuzzy logic applications. Thereby the planner is relieved from routine work. HoME makes use of a discrete event simulation model, which feeds back the actual workload of each resource at each instant. With this visualization tool, resource planning can be performed by assessing the economical effect of group work. We evaluate the benefits by introducing HoME in an industrial environment. Additional costs due to the need for unfinished working cycles as well as worker idle times and the total personnel demand are reduced.","PeriodicalId":326575,"journal":{"name":"Proceedings of the 1999 IEEE International Symposium on Assembly and Task Planning (ISATP'99) (Cat. No.99TH8470)","volume":"509 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":"134261941","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.1999.782955
Fernando B. M. Duarte, J. T. Tenreiro Machado
Redundant manipulators have some advantages when compared with classical arms because they allow trajectory optimization, both in free space and in the presence of obstacles, and the resolution of singularities. For this type of manipulators, several kinematic control algorithms adopt generalized inverse matrices. In this line of thought, the generalized inverse control scheme is tested through several experiments that reveal the difficulties that often arise. Motivated by these problems the paper presents a method that optimizes the manipulability through a least square rational function approximation, to determine the joints positions and studies the chaos revealed by the kinematics trajectory planning scheme, as well as its influence on the dynamics, when controlling redundant and hyper-redundant manipulators. The experiments confirm the superior performance of the proposed algorithm, for redundant and hyper-redundant manipulators, revealing several properties and give a deeper insight towards the future development of superior trajectory control algorithms.
{"title":"A trajectory planning algorithm for redundant manipulators","authors":"Fernando B. M. Duarte, J. T. Tenreiro Machado","doi":"10.1109/ISATP.1999.782955","DOIUrl":"https://doi.org/10.1109/ISATP.1999.782955","url":null,"abstract":"Redundant manipulators have some advantages when compared with classical arms because they allow trajectory optimization, both in free space and in the presence of obstacles, and the resolution of singularities. For this type of manipulators, several kinematic control algorithms adopt generalized inverse matrices. In this line of thought, the generalized inverse control scheme is tested through several experiments that reveal the difficulties that often arise. Motivated by these problems the paper presents a method that optimizes the manipulability through a least square rational function approximation, to determine the joints positions and studies the chaos revealed by the kinematics trajectory planning scheme, as well as its influence on the dynamics, when controlling redundant and hyper-redundant manipulators. The experiments confirm the superior performance of the proposed algorithm, for redundant and hyper-redundant manipulators, revealing several properties and give a deeper insight towards the future development of superior trajectory control algorithms.","PeriodicalId":326575,"journal":{"name":"Proceedings of the 1999 IEEE International Symposium on Assembly and Task Planning (ISATP'99) (Cat. No.99TH8470)","volume":"88 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":"124818486","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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