The original paper is in English. Non-English content has been machine-translated and may contain typographical errors or mistranslations. ex. Some numerals are expressed as "XNUMX".
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The original paper is in English. Non-English content has been machine-translated and may contain typographical errors or mistranslations. Copyrights notice
Este artigo apresenta um método de planejamento de movimento para um robô bimanual para execução de tarefas de montagem. O método emprega uma modelagem adaptativa que pode gerar automaticamente um modelo de montagem e modificar o modelo durante a montagem real. A montagem robótica bimanual é modelada no nível da tarefa usando estados de contato das peças e suas transições. Os comandos de velocidade de nível inferior das peças são derivados automaticamente resolvendo problemas de otimização formulados com restrições de montagem, posição das peças e cinemática dos manipuladores. Os requisitos de movimento das peças são transformados em comandos de movimento do robô bimanual. A abordagem proposta é avaliada com experimentos de montagem peg-in-hole com uma cavilha em forma de L.
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Myun Joong HWANG, Doo Yong LEE, Seong Youb CHUNG, "Motion Planning of Bimanual Robot Using Adaptive Model of Assembly" in IEICE TRANSACTIONS on Fundamentals,
vol. E91-A, no. 12, pp. 3749-3756, December 2008, doi: 10.1093/ietfec/e91-a.12.3749.
Abstract: This paper presents a motion planning method for a bimanual robot for executing assembly tasks. The method employs an adaptive modeling which can automatically generate an assembly model and modify the model during actual assembly. Bimanual robotic assembly is modeled at the task-level using contact states of workpieces and their transitions. The lower-level velocity commands of the workpieces are automatically derived by solving optimization problem formulated with assembly constraints, position of the workpieces, and kinematics of manipulators. Motion requirements of the workpieces are transformed to motion commands of the bimanual robot. The proposed approach is evaluated with experiments on peg-in-hole assembly with an L-shaped peg.
URL: https://global.ieice.org/en_transactions/fundamentals/10.1093/ietfec/e91-a.12.3749/_p
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@ARTICLE{e91-a_12_3749,
author={Myun Joong HWANG, Doo Yong LEE, Seong Youb CHUNG, },
journal={IEICE TRANSACTIONS on Fundamentals},
title={Motion Planning of Bimanual Robot Using Adaptive Model of Assembly},
year={2008},
volume={E91-A},
number={12},
pages={3749-3756},
abstract={This paper presents a motion planning method for a bimanual robot for executing assembly tasks. The method employs an adaptive modeling which can automatically generate an assembly model and modify the model during actual assembly. Bimanual robotic assembly is modeled at the task-level using contact states of workpieces and their transitions. The lower-level velocity commands of the workpieces are automatically derived by solving optimization problem formulated with assembly constraints, position of the workpieces, and kinematics of manipulators. Motion requirements of the workpieces are transformed to motion commands of the bimanual robot. The proposed approach is evaluated with experiments on peg-in-hole assembly with an L-shaped peg.},
keywords={},
doi={10.1093/ietfec/e91-a.12.3749},
ISSN={1745-1337},
month={December},}
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TY - JOUR
TI - Motion Planning of Bimanual Robot Using Adaptive Model of Assembly
T2 - IEICE TRANSACTIONS on Fundamentals
SP - 3749
EP - 3756
AU - Myun Joong HWANG
AU - Doo Yong LEE
AU - Seong Youb CHUNG
PY - 2008
DO - 10.1093/ietfec/e91-a.12.3749
JO - IEICE TRANSACTIONS on Fundamentals
SN - 1745-1337
VL - E91-A
IS - 12
JA - IEICE TRANSACTIONS on Fundamentals
Y1 - December 2008
AB - This paper presents a motion planning method for a bimanual robot for executing assembly tasks. The method employs an adaptive modeling which can automatically generate an assembly model and modify the model during actual assembly. Bimanual robotic assembly is modeled at the task-level using contact states of workpieces and their transitions. The lower-level velocity commands of the workpieces are automatically derived by solving optimization problem formulated with assembly constraints, position of the workpieces, and kinematics of manipulators. Motion requirements of the workpieces are transformed to motion commands of the bimanual robot. The proposed approach is evaluated with experiments on peg-in-hole assembly with an L-shaped peg.
ER -