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Proceedings Paper

Computer Control Of The Dynamic Coordinative Assembling Of Peg-Hole
Author(s): Chang Hsiao Tsu; Zhang Xiao Xian
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Paper Abstract

This paper explores the problem of coordinative assembling "peg and hole" by two anthropomorphic arms. An algorithm has been proposed in this paper for use of computer. This approach enables the peg-hole to be coordinatively assembled at any designated place in three dimensional space R3 containing obstacles. Using this algorithm only a single computer is required for fine adjustment, eliminating the need for vision aid. This paper is divided into two parts. The first is a description of mathematical model which works on the homotopic principle: the rigid solids are abstracted into tetrahedra,then their rigid movement are planed.Homotopic function are formulated through the dynamic matrice thus uniformly and totally characterizing the whole process of this dynamic coordinative assembling. The second part deals with the control algorithm of the collision avoidance discriminant for the peg and the holed solid. If any possible collisions should happen, the computer algorithm may change the orientation of the arms or wrist of the robot to ensure coordinative assembling. Finally the algorithm routine is given in the paper. This approach is not only applicable to the assembling operation of the parts of peg and hole, but also to that of general prisms and corresponding prismatic holes.

Paper Details

Date Published: 19 February 1988
PDF: 6 pages
Proc. SPIE 0848, Intelligent Robots and Computer Vision VI, (19 February 1988); doi: 10.1117/12.942802
Show Author Affiliations
Chang Hsiao Tsu, Shenyang University (China)
Zhang Xiao Xian, Shandong Normal University (China)

Published in SPIE Proceedings Vol. 0848:
Intelligent Robots and Computer Vision VI
David P. Casasent; Ernest L. Hall, Editor(s)

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