Journal Article10.1177/027836499801701106
A Complete Algorithm for Fixture Loading
Kyeonah Yu,Ken Goldberg +1 more
12
TL;DR: This paper geometrically formalizes robotic fixture loading as a sensor-based compliant assembly problem and gives a complete planning algorithm that is guaranteed to find a loading plan when one exists and to return a negative report otherwise.
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Abstract: A fixture is a device for locating and holding parts. Since the initial position and orientation of a part may be uncertain, the act of loading the part into the fixture must compensate for this uncertainty. Machinists often refer to the 3-2-1 rule: place the part onto 3-point contact with a horizontal support plane, slide the part along this plane into 2-point contact with the fixture, then translate along this edge until a 1-point contact uniquely locates the part. Finally, apply clamps (Mani and Wilson 1988; Chou, Chandru, and Barash 1989). This rule of thumb implicitly assumes both sensing and compliance: applied forces change as contacts are detected.In this paper, we geometrically formalize robotic fixture loading as a sensor-based compliant assembly problem and give a complete planning algorithm. We consider the class of modular fixtures that use three locators and one clamp (Brost and Goldberg 1996), and discuss a class of robot commands that cause the part to slide and rotate in the support plane...
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Citations
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Efficient simplex computation for fixture layout design
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Efficient simplex computation for fixture layout design
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TL;DR: A simple randomized algorithm that computes a feasible fixture layout in linear time and is well-suited for realtime applications and methods to combine different algorithms to improve the performance are presented.
10
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