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19 February 1988 Computer Control Of The Dynamic Coordinative Assembling Of Peg-Hole
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Proceedings Volume 0848, Intelligent Robots and Computer Vision VI; (1988)
Event: Advances in Intelligent Robotics Systems, 1987, Cambridge, CA, United States
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.
© (1988) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Chang Hsiao Tsu and Zhang Xiao Xian "Computer Control Of The Dynamic Coordinative Assembling Of Peg-Hole", Proc. SPIE 0848, Intelligent Robots and Computer Vision VI, (19 February 1988);


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