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Proceedings Paper

Planning for Assembly with Robot Hands
Author(s): R. J. Popplestone; R. A. Grupen; Y. Liu; G. A. Dakin; D. N. Oskard; S. Nair
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Paper Abstract

If an autonomous robot system is to make effective use of a dextrous hand for assembly, it must be able to (1) reason about how objects are intended to fit together and design mating trajectories, (2) derive uncertainty constraints which accommodate perturbations from the nominal trajectories, (3) and determine how objects should be grasped to exert the forces expected during execution. This paper discusses a planning system which exploits the knowledge of symmetry incorporated in a group theory based reasoner to arrive at a nominal assembly plan. The plan is then refined by establishing bounds on the permissible uncertainty and required forces. A final stage plans force mediated interaction by incorporating multiple agents which enforce the wrench closure requirements and uncertainty constraints over the space of possible grasps.

Paper Details

Date Published: 1 February 1990
PDF: 16 pages
Proc. SPIE 1196, Intelligent Control and Adaptive Systems, (1 February 1990); doi: 10.1117/12.969919
Show Author Affiliations
R. J. Popplestone, University of Massachusetts at Amherst (United States)
R. A. Grupen, University of Massachusetts at Amherst (United States)
Y. Liu, University of Massachusetts at Amherst (United States)
G. A. Dakin, University of Massachusetts at Amherst (United States)
D. N. Oskard, University of Massachusetts at Amherst (United States)
S. Nair, University of Massachusetts at Amherst (United States)


Published in SPIE Proceedings Vol. 1196:
Intelligent Control and Adaptive Systems
Guillermo Rodriguez, Editor(s)

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