Optimizing Robot Motion Strategies for Assembly with Stochastic Models of the Assembly Process - Assembly and Task Planning, 1995. Proceedings., IEEE International Symposium on
نویسنده
چکیده
Gross-motion planning for assembly is common ly considered as a distinct, isolated step between task sequencing/scheduling and f ine-mot ion planning. In this paper we formula te the problem of gross-motion planning for assembly in a manner that integrates it with both the m a n ufacturing process and the f i ne mot ions involved an the f inal assembly stages. One distinct characteristic of gross-motion planning for assembly is the prevalence of uncertainty in volving tame in parts arrival, in request arrival, etc. W e propose a stochastic representation of the assembly process that improves the robot performance in the uncertain assembly environment by optimizing a n appropriate criterion an the expected sense.
منابع مشابه
Optimizing robot motion strategies for assembly with stochastic models of the assembly process
Gross-motion planning for assembly is commonly considered as a distinct, isolated step between task sequencing/scheduling and ne-motion planning. In this paper we formulate a problem of delivering parts for assembly in a manner that integrates it with both the manufacturing process and the ne motions involved in the nal assembly stages. One distinct characteristic of gross-motion planning for a...
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