DC Field | Value | Language |
---|---|---|
dc.contributor.author | Hwang, MJ | ko |
dc.contributor.author | Lee, Doo Yong | ko |
dc.contributor.author | Chung, SY | ko |
dc.date.accessioned | 2013-03-07T19:49:34Z | - |
dc.date.available | 2013-03-07T19:49:34Z | - |
dc.date.created | 2012-02-06 | - |
dc.date.created | 2012-02-06 | - |
dc.date.issued | 2008-12 | - |
dc.identifier.citation | IEICE TRANSACTIONS ON FUNDAMENTALS OF ELECTRONICS COMMUNICATIONS AND COMPUTER SCIENCES, v.E91A, pp.3749 - 3756 | - |
dc.identifier.issn | 1089-7771 | - |
dc.identifier.uri | http://hdl.handle.net/10203/91138 | - |
dc.description.abstract | This paper presents a motion planning method for a bimanual robot for executing assembly tasks. The method employs ail adaptive modeling which can automatically generate, in 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 ail L-shaped peg. | - |
dc.language | English | - |
dc.publisher | IEICE-INST ELECTRONICS INFORMATION COMMUNICATIONS ENG | - |
dc.subject | COMPLIANT MOTION | - |
dc.subject | TASKS | - |
dc.title | Motion Planning of Bimanual Robot Using Adaptive Model of Assembly | - |
dc.type | Article | - |
dc.identifier.wosid | 000262164800043 | - |
dc.identifier.scopusid | 2-s2.0-77951265261 | - |
dc.type.rims | ART | - |
dc.citation.volume | E91A | - |
dc.citation.beginningpage | 3749 | - |
dc.citation.endingpage | 3756 | - |
dc.citation.publicationname | IEICE TRANSACTIONS ON FUNDAMENTALS OF ELECTRONICS COMMUNICATIONS AND COMPUTER SCIENCES | - |
dc.identifier.doi | 10.1093/ietfec/e91-a.12.3749 | - |
dc.contributor.localauthor | Lee, Doo Yong | - |
dc.contributor.nonIdAuthor | Hwang, MJ | - |
dc.contributor.nonIdAuthor | Chung, SY | - |
dc.type.journalArticle | Article | - |
dc.subject.keywordAuthor | robotic assembly | - |
dc.subject.keywordAuthor | multi manipulators | - |
dc.subject.keywordAuthor | motion planning | - |
dc.subject.keywordPlus | COMPLIANT MOTION | - |
dc.subject.keywordPlus | TASKS | - |
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