Task-level programming

This paper presents the core of a software system able to determine a good grasp configuration on 3D objects for a three-fingered hand. The grasp planning problem has been studied considering both the constraints due to the stability and accessibility conditions, and the ones related to functionality. Physical, geometrical, spatial and task-related knowledge for solving the grasp planning problem have been properly modelled to support a heuristic-based reasoning process. A series of heuristic rules and geometric tests are used to scan the solution space, searching for a 'good' grasp. In fact, when considering the three-dimensional case, a purely analytical and exhaustive approach appears too complex because of the dimension of the search space. This approach results in an incremental and modular model of grasp reasoning, that has been implemented using the Flex expert system shell. This work has been developed and demonstrated within the Esprit 2 project CIM-PLATO No. 2202.

show abstract

On the scenario and heuristics of disassemblies

Qian

Pagello²

Proceedings of the 1994 IEEE International Conference on Robotics and Automation

Self Cite

View full text Add to dashboard Cite

A general scenario of disassembly is figured out, starting from our past study of the internal structures of machines and devices, based on a mechanical engineer's point of view. We argue that among all data relevunt to assembly, the key data ,for generating assembly sequences are the liaison type and the assentbly direction. From thtse data many important geometrical, topological and technological constraints can be inferred, thar can be used as criferia for reducing the user's input data and the information to be extracted from the CAD datu base. These criteria minimize the possible decompositions ut each stage of disassembly, and may even guide the search towards the best plan. A fast planner has been implemented in PROLOG, giving a user .friendly system capable of generating optimal assembly plans very quickly, with a computational cost roughly proportional 10 the number of parts in the jinal assenzbly.

show abstract

Task-level programming

Cited by 3 publications

References 6 publications

Modular Approach to the Planning of the Robot’s Tasks in the Context of Holons and Graph-Based Methods

Modular Approach to the Planning of the Robot’s Tasks in the Context of Holons and Graph-Based Methods

A heuristic approach to automatic grasp planning for a 3-fingered hand

On the scenario and heuristics of disassemblies

Contact Info

Product

Resources

About