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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
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References

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Figures

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

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