Document Type

Article

Publication Date

2002

Publication Title

IEEE Transactions on Systems, Man and Cybernetics, Part A

Volume

32

Issue

4

First Page

522

Last Page

526

Keywords

Assembly systems, Computer aided manufacturing, Humans, Machinery, Manipulators, Orbital robotics, Production, Robotic assembly, Robotics and automation, Virtual reality

Abstract

An interactive approach to assembly planning is presented. It provides a virtual reality interface for production engineers to program the virtual representation of robotic manipulators in a three-dimensional (3D) operation space. The direct human involvement creates a user-defined assembly sequence, which contains the human knowledge of mechanical assembly. By extracting the precedence relationship of machinery parts, for the first time it becomes possible to generate alternative assembly sequences automatically from a single sequence for robot reprogramming. This interactive approach introduces human expertise into assembly planning, thus breaking down the computational complexity of autonomous systems. Experiments and analysis provide strong evidence to support the incontestable advantages of "manufacturing in the computer".

Comments

The definitive version of this article was published in IEEE Transactions on Systems, Man and Cybernetics, Part A and is available here. (c) 2002 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works.

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