Paper Info
Title
Tool Exchangeable Grasp/Assembly Planner.
Abstract
This paper proposes a novel assembly planner for a manipulator which can simultaneously plan assembly sequence, robot motion, grasping configuration, and exchange of grippers. Our assembly planner assumes multiple grippers and can automatically selects a feasible one to assemble a part. For a given AND/OR graph of an assembly task, we consider generating the assembly graph from which assembly motion of a robot can be planned. The edges of the assembly graph are composed of three kinds of paths, i.e., transfer/assembly paths, transit paths and tool exchange paths. In this paper, we first explain the proposed method for planning assembly motion sequence including the function of gripper exchange. Finally, the effectiveness of the proposed method is confirmed through some numerical examples and a physical experiment.
Year
DOI
Venue
2018
10.1007/978-3-030-01370-7_62
IAS
DocType
Volume
ISSN
Conference
abs/1805.08962
Int. Conf. on Intelligent Autonomous Systems, 2018
Citations 
PageRank 
References 
1
0.36
12
Authors
6
Name
Order
Citations
PageRank
Kensuke Harada11967172.97
Kento Nakayama210.70
Wan Weiwei312736.02
Kazuyuki Nagata417625.55
Natsuki Yamanobe56613.66
Ixchel Georgina Ramirez-Alpizar6286.87