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Industrial robots have been recently introduced into the assembly line of consumer products. To assemble a product, goal coordinates must be specified for the robot. Because this task is quite difficult and time-consuming, we propose computing the values of goal coordinates from an object model of target design. In this paper, we define a model capable of managing information necessary for assembling...
This paper describes a knowledge representation and programming method for a robotic assembly task. The methodology is explained using a robotic assembly task involving position and force controls. The action sequence is defined based on a control hierarchy which consists of four levels (Control primitive level, Control skill level, Skill level, and Task level). A complicated assembly task can be...
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