0
TECHNICAL PAPERS

The Combination of Attractive Regions and Pre-images in Motion Planning

[+] Author and Article Information
H. Qiao

Department of Manufacturing Engineering and Engineering Management, City University of Hong Kong, Hong Kong; Department of Computation, UMIST, UKe-mail: hqiao@co.umist.ac.uk

J. Manuf. Sci. Eng 124(2), 341-350 (Apr 29, 2002) (10 pages) doi:10.1115/1.1406952 History: Received December 01, 1999; Revised May 01, 2001; Online April 29, 2002
Copyright © 2002 by ASME
Your Session has timed out. Please sign back in to continue.

References

Figures

Grahic Jump Location
Strategy investigation based on pre-image concepts
Grahic Jump Location
The strategy investigation based on pre-image concepts
Grahic Jump Location
The selected state element x1 and sensory signal
Grahic Jump Location
The uncertainty of x1 can be eliminated with the input F1(1)=−k1 sign(x1−x1.0)
Grahic Jump Location
The process where the uncertainty can be eliminated
Grahic Jump Location
Robotic assembly system with a wrist force sensor
Grahic Jump Location
The block diagram of the robotic peg-hole system with a force sensor
Grahic Jump Location
The location of contact point, the direction of contact force and the pose of the peg
Grahic Jump Location
For one peg-hole configuration, the peg can be attracted to the state with (OhOp)hx=0
Grahic Jump Location
For various peg-hole configurations, the system can always achieve the state where (OhOp)hx=0
Grahic Jump Location
The initial region forms an attractive region for the first sub-goal
Grahic Jump Location
The assembly process with the consideration of the motion uncertainty and the input uncertainty
Grahic Jump Location
The robotic assembly with a six-component wrist force sensor
Grahic Jump Location
(a) The torque Msy versus time t in case 1, (b) the torque Msx versus time t in case 1
Grahic Jump Location
(a) The torque Msy versus time t in case 2, (b) the torque Msx versus time t in case 2
Grahic Jump Location
The assembly process without consideration of motion uncertainty
Grahic Jump Location
The process in which the peg is inserted into the hole deeply
Grahic Jump Location
The process in which |θhx| is reduced and the peg starts to be inserted into the hole
Grahic Jump Location
The process where the uncertainty of (OhOp)hy can be reduced
Grahic Jump Location
Mapping relationship between (OhOp)hy (mm) and Msx (Nmm)
Grahic Jump Location
The relationship between (OhOp)hx and Mspy
Grahic Jump Location
The relationship among Cpx,Cpy,(OhOp)hx and (OhOp)hy
Grahic Jump Location
One set of force sensory signal may correspond to many possible poses of the peg
Grahic Jump Location
Each trajectory presents the location of Op with the same location of the contact point on the peg

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In