scholarly journals Motion Planning by Integration of Multiple Policies for Complex Assembly Tasks

10.5772/10322 ◽  
2010 ◽  
Author(s):  
Natsuki Yamanobe ◽  
Hiromitsu Fujii ◽  
Tamio Arai ◽  
Ryuichi Ue
Keyword(s):  
Motion Planning ◽  
Complex Assembly ◽  
Assembly Tasks

Assembly Strategies for Parts with a Plane of Symmetry

Robotica ◽  
1991 ◽  
Vol 9 (2) ◽  
pp. 189-195 ◽  
Author(s):  
N. A. Aspragathos
Keyword(s):  
Large Class ◽  
Position Control ◽  
Hybrid Control ◽  
Robotic System ◽  
Torque Sensor ◽  
Complex Assembly ◽  
Assembly Tasks

SUMMARYThis paper describes the development of assembly strategies based on hybrid force/position control. The assembly strategies developed are confined to the large class of assembly tasks defined as a peg-in-the-hole assembly having a plane of symmetry passing through the axis of insertion.The basic idea to develop a robotic system for programmable assembly is presented. This system can currently operate controlled manipulators with minor modifications, i.e. if a force/torque sensor and proper software for hybrid control are provided.The principles of writing assembly strategies are analysed and examples of more complex assembly tasks than the classic round peg-in-the-hole are discussed in detail.

Instruction Generation for Assembly Operations Performed by Humans

2012 ◽  
Author(s):  
Krishnanand Kaipa ◽  
Carlos Morato ◽  
Boxuan Zhao ◽  
Satyandra K. Gupta
Keyword(s):  
Motion Planning ◽  
Free Path ◽  
Generation System ◽  
Complex Assembly ◽  
Learning Time ◽  
Design Changes ◽  
Multimodal Information ◽  
Information Text ◽  
Assembly Operations

This paper presents the design of an instruction generation system that can be used to automatically generate instructions for complex assembly operations performed by humans on factory shop floors. Multimodal information—text, graphical annotations, and 3D animations—is used to create easy-to-follow instructions. This thereby reduces learning time and eliminates the possibility of assembly errors. An automated motion planning subsystem computes a collision-free path for each part from its initial posture in a crowded scene onto its final posture in the current subassembly. Visualization of this computed motion results in generation of 3D animations. The system also consists of an automated part identification module that enables the human to identify, and pick, the correct part from a set of similar looking parts. The system’s ability to automatically translate assembly plans into instructions enables a significant reduction in the time taken to generate instructions and update them in response to design changes.

scholarly journals An Online Vision System for Understanding Complex Assembly Tasks

2015 ◽  
Author(s):  
Thiusius Rajeeth Savarimuthu ◽  
Jeremie Papon ◽  
Anders Glent Buch ◽  
Eren Erdal Aksoy ◽  
Wail Mustafa ◽  
...  
Keyword(s):  
Vision System ◽  
Complex Assembly ◽  
Assembly Tasks

A RRT-based motion planning of dual-arm robot for (Dis)assembly tasks

IEEE ISR 2013 ◽  
2013 ◽  
Author(s):  
Dong-Hyung Kim ◽  
Sung-Jin Lim ◽  
Duck-Hyun Lee ◽  
Ji Yeong Lee ◽  
Chang-Soo Han
Keyword(s):  
Motion Planning ◽  
Dual Arm Robot ◽  
Assembly Tasks ◽  
Dual Arm

scholarly journals Hybrid Trajectory and Force Learning of Complex Assembly Tasks: A Combined Learning Framework

IEEE Access ◽  
2021 ◽  
pp. 1-1
Author(s):  
Yan Wang ◽  
Cristian C. Beltran-Hernandez ◽  
Weiwei Wan ◽  
Kensuke Harada
Keyword(s):  
Complex Assembly ◽  
Learning Framework ◽  
Assembly Tasks

Preresponse and error-correction prompting procedures for learning complex assembly tasks

1980 ◽  
Vol 5 (1) ◽  
pp. 30-40 ◽  
Author(s):  
William D. Ellis ◽  
Richard T. Walls ◽  
Thomas Zane
Keyword(s):  
Error Correction ◽  
Complex Assembly ◽  
Assembly Tasks

Evaluation of an Augmented Reality Instruction for a Complex Assembly Task

i-com ◽  
2021 ◽  
Vol 20 (1) ◽  
pp. 63-72
Author(s):  
Johannes Funk ◽  
Ludger Schmidt
Keyword(s):  
Augmented Reality ◽  
Knowledge Transfer ◽  
Manual Assembly ◽  
Complex Assembly ◽  
Assembly Task ◽  
Rail Vehicles ◽  
Instruction Type ◽  
Low Costs ◽  
Nasa Tlx ◽  
Assembly Tasks

Abstract This study compares the use of a marker-based AR instruction with a paper instruction commonly used in manual assembly. Hypotheses were tested as to whether the instruction type affects assembly time, number of errors, usability, and employee strain. Instead of student participants and artificial assembly tasks (e. g. Lego assemblies), the study was conducted with 16 trainees in a real workplace for the assembly of emergency door release handles in rail vehicles. Five assembly runs were performed. Assembly times and assembly errors were determined from recorded videos. Usability (SUS) and strain (NASA-TLX) were recorded with questionnaires. After a slower assembly at the beginning, the AR group assembled significantly faster in the fifth run. The comparable number of errors, usability and strain make marker-based AR applications interesting for knowledge transfer in manual assembly, especially due to the easy entrance and low costs.

scholarly journals Enhancing Digital Human Motion Planning of Assembly Tasks Through Dynamics and Optimal Control

Procedia CIRP ◽  
2016 ◽  
Vol 44 ◽  
pp. 20-25 ◽  
Author(s):  
Staffan Björkenstam ◽  
Niclas Delfs ◽  
Johan S. Carlson ◽  
Robert Bohlin ◽  
Bengt Lennartson
Keyword(s):  
Optimal Control ◽  
Motion Planning ◽  
Human Motion ◽  
Digital Human ◽  
Assembly Tasks
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