Assembly approach for bimanual robots

Myun Joong Hwang; Seong Youb Chung; Doo Yong Lee

Assembly approach for bimanual robots

Myun Joong Hwang, Seong Youb Chung, Doo Yong Lee

Department of Mechanical and Information Engineering

Research output: Contribution to conference › Paper › peer-review

9 Scopus citations

Abstract

Bimanual, or two-handed, robots can be useful for assembly tasks in unstructured environment where it is difficult to have fixtures. The assembly is planned at the task-level with assembly models using contact states and their transitions. The lower-level velocity commands are automatically derived from the task-level symbolic transitions by solving constrained optimization problem formulated with assembly constraints and positions of the workpieces. The proposed approach is evaluated with simulation of the peg-in-hole assembly with an L-shape peg, that ordinary position control scheme cannot complete.

Original language	English
Pages	1482-1487
Number of pages	6
State	Published - 2005
Event	Proceedings of the 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2005 - Monterey, CA, United States Duration: 24 Jul 2005 → 28 Jul 2005

Conference

Conference	Proceedings of the 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2005
Country/Territory	United States
City	Monterey, CA
Period	24/07/05 → 28/07/05

Cite this

@conference{fc16e66ff650460b8fa9bdbdae82b67d,

title = "Assembly approach for bimanual robots",

abstract = "Bimanual, or two-handed, robots can be useful for assembly tasks in unstructured environment where it is difficult to have fixtures. The assembly is planned at the task-level with assembly models using contact states and their transitions. The lower-level velocity commands are automatically derived from the task-level symbolic transitions by solving constrained optimization problem formulated with assembly constraints and positions of the workpieces. The proposed approach is evaluated with simulation of the peg-in-hole assembly with an L-shape peg, that ordinary position control scheme cannot complete.",

author = "Hwang, {Myun Joong} and Chung, {Seong Youb} and Lee, {Doo Yong}",

year = "2005",

language = "English",

pages = "1482--1487",

note = "Proceedings of the 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2005 ; Conference date: 24-07-2005 Through 28-07-2005",

}

TY - CONF

T1 - Assembly approach for bimanual robots

AU - Hwang, Myun Joong

AU - Chung, Seong Youb

AU - Lee, Doo Yong

PY - 2005

Y1 - 2005

N2 - Bimanual, or two-handed, robots can be useful for assembly tasks in unstructured environment where it is difficult to have fixtures. The assembly is planned at the task-level with assembly models using contact states and their transitions. The lower-level velocity commands are automatically derived from the task-level symbolic transitions by solving constrained optimization problem formulated with assembly constraints and positions of the workpieces. The proposed approach is evaluated with simulation of the peg-in-hole assembly with an L-shape peg, that ordinary position control scheme cannot complete.

AB - Bimanual, or two-handed, robots can be useful for assembly tasks in unstructured environment where it is difficult to have fixtures. The assembly is planned at the task-level with assembly models using contact states and their transitions. The lower-level velocity commands are automatically derived from the task-level symbolic transitions by solving constrained optimization problem formulated with assembly constraints and positions of the workpieces. The proposed approach is evaluated with simulation of the peg-in-hole assembly with an L-shape peg, that ordinary position control scheme cannot complete.

UR - http://www.scopus.com/inward/record.url?scp=27644567759&partnerID=8YFLogxK

M3 - Paper

AN - SCOPUS:27644567759

SP - 1482

EP - 1487

T2 - Proceedings of the 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2005

Y2 - 24 July 2005 through 28 July 2005

ER -

Assembly approach for bimanual robots

Abstract

Conference

Other files and links

Fingerprint

Cite this