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Stability of Assemblies as a Criterion for Cost Evaluation in Robot Assembly

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Robotics Research

Abstract

In this paper we discuss assembly stability as a criterion for cost evaluation in robot assembly. We propose an algorithm for the calculation of the set of potentially stable orientations of arbitrary configurations of rigid bodies considering static friction under uniform gravity. The algorithm determines the magnitudes of the contact forces leading to potential assembly stability using linear programming techniques. A new evaluation function based on the set of potentially stable assembly orientations is proposed and integrated into the assembly cost evaluation of a high level assembly planning system. The proposed stability analysis is an indispensible prerequisite for the execution of robot assembly operations generated by a task-level programming system.

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Author information

Authors and Affiliations

  1. Institute for Robotics and Process Control, Technical University of Braunschweig, Hamburger Str. 267, 38114, Braunschweig, Germany

    H. Mosemann, F. Röhrdanz & F. Wahl

Authors
  1. H. Mosemann
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  2. F. Röhrdanz
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  3. F. Wahl
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Editor information

Editors and Affiliations

  1. Department of Compter-Controlled Machine Systems, Faculty of Engineering, Osaka University 2-1, Yamadaoka, Suita, 565, Japan

    Yoshiaki Shirai

  2. Mechano-Aerospace, Faculty of Engineering, Tokyo Institute of Technology, 2-12-1 Ohokayama, Meguro-ku, Tokyo, 152, Japan

    Shigeo Hirose

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© 1998 Springer-Verlag London Limited

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Mosemann, H., Röhrdanz, F., Wahl, F. (1998). Stability of Assemblies as a Criterion for Cost Evaluation in Robot Assembly. In: Shirai, Y., Hirose, S. (eds) Robotics Research. Springer, London. https://doi.org/10.1007/978-1-4471-1580-9_15

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  • DOI: https://doi.org/10.1007/978-1-4471-1580-9_15

  • Publisher Name: Springer, London

  • Print ISBN: 978-1-4471-1582-3

  • Online ISBN: 978-1-4471-1580-9

  • eBook Packages: Springer Book Archive

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