Intelligent use of attractive regions in the environment in robotic assembly

CASIA OpenIR > 09年以前成果

	Intelligent use of attractive regions in the environment in robotic assembly
	Qiao H(乔红); Qiao, H
	2000
会议名称	26th Annual Conference of the IEEE-Industrial-Electronics-Society
会议录名称	IEEE Industrial Electronics Society
会议日期	OCT 22-28, 2000
会议地点	NAGOYA, JAPAN
摘要	Strategy investigation is a process to design the input to move the system from the initial state region to the goal state region through a series of sub-goals. In practice, all complicated tasks need to be divided into several sub-tasks. It relates to various research areas such as motion planning, part recognition, sensor selection and sensory signal utilization. There are significant approaches in each of these areas. In our previous work [1], the concept of attractive region in strategy investigation has been proposed, which provides a logical method to form a strategy to move the system from the initial region to the goal region. In this paper, the concept of attractive region in the strategy investigation has been used in motion planning with uncertainty. It is pointed out that: (i) the concept of attractive region in strategy investigation provides a logic method in motion planning, (ii) the attractive regions can be formed in either sensor-based or sensor-less systems, (iii) the condition of existence of attractive regions in sensor-based system gives a principal in sensor selection and the commanded action based on sensory signal, (iv) the relationship of some system in physical space and its motion region in configuration space is analysed, which can be used to identify the existence of attractive regions of the system in physical space, and (v) it has been proven that (a) the attractive regions exist in all robotic assembly systems and, (b) through intelligent use of the attractive regions, high-precision robotic assembly can be easily achieved without force sensors and flexible wrists.
关键词	无
文献类型	会议论文
条目标识符	http://ir.ia.ac.cn/handle/173211/12837
专题	09年以前成果
通讯作者	Qiao, H
作者单位	City Univ Hong Kong, Dept Mfg Engn & Engn Management
推荐引用方式 GB/T 7714	Qiao H,Qiao, H. Intelligent use of attractive regions in the environment in robotic assembly[C],2000.