Paper Info
Title
Motion Planning Of Bimanual Robot Using Adaptive Model Of Assembly
Abstract
This paper presents a motion planning method for a bimanual robot for executing assembly tasks. The method employs ail adaptive modeling which can automatically generate, in assembly model and modify the model during actual assembly. Bimanual robotic assembly is modeled at the task-level using contact states of workpieces and their transitions. The lower-level velocity commands of the workpieces are automatically derived by solving optimization problem formulated with assembly constraints, position of the workpieces, and kinematics of manipulators. Motion requirements of the workpieces are transformed to motion commands of the bimanual robot. The proposed approach is evaluated with experiments on peg-in-hole assembly with ail L-shaped peg.
Year
DOI
Venue
2008
10.1093/ietfec/e91-a.12.3749
IEICE TRANSACTIONS ON FUNDAMENTALS OF ELECTRONICS COMMUNICATIONS AND COMPUTER SCIENCES
Keywords
DocType
Volume
robotic assembly, multi manipulators, motion planning
Journal
E91A
Issue
ISSN
Citations 
12
0916-8508
0
PageRank 
References 
Authors
0.34
11
3
Name
Order
Citations
PageRank
Myun Joong Hwang171.52
Doo Yong Lee225234.35
Seong Youb Chung3354.41