Next generation manufacturing task planner for robotic arc welding

Hemmerle, James; Terk, M.; Gürsöz, E. Levent; Prinz, Fritz B.; Doyle, Thomas E.

doi:10.1016/0019-0578(92)90032-e

Cited by 4 publications

(1 citation statement)

References 31 publications

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“…As a second scenario, consider Fig. 2 which shows a robotic welding setup [4]. A weldmg torch is mounted at the end of a manipulator and the assembly being welded is mounted on a table top whose orientation can be changed.…”

Section: Introductionmentioning

confidence: 99%

Finding all stable orientations of assemblies with friction

Mattikalli

Baraff²,

Khosla³

1996

IEEE Trans. Robot. Automat.

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Previous work by Mattikalli et al. [l] considered the stability of assemblies of frictionless contacting bodies under uniform gravity. A linear programming-based technique was described that would automatically determine a single stable orientation for an assembly (if such an orientation existed). In this paper, we include Coulomb friction at contacts between bodies and give a characterization of the entire set of stable orientations of an assembly under uniform gravity. Our characterization is based on the concept of potential stability, which describes a necessary but not sufficient condition for the stability of an assembly. Orientations that are computed as being unstable, however, are guaranteed to fall apart. Our characterization reveals that the set of stable orientations maps out a convex region on the unit-sphere of directions and corresponds to a spherical analog of a planar polygon-the region is bounded by a sequence of vertices joined by great arcs. Linear programming techniques are used to automatically find this set of vertices, yielding a description of the range of stable orientations for any assembly. For frictionless assemblies, our characterization of stable orientations is exact. For assemblies with friction, some conservative approximations associated with the use of a linearized Coulomb law are made.

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Section: Introductionmentioning

confidence: 99%