A system which automatically locates a part assembly task in a robot's workspace is described. The system determines the maniputability of a robot at points during the assembly operation. The assumption is made that the location of the assembly task within the workspace that results in the highest maniputability for the robot is a locally optimal position for performing the assembly. A path from assembly point to assembly point is also calculated to ensure that all motions necessary to perform the assembly operation are possible. In addition, a comparison of a manipulator's ability to perform a specific assembly operation in different workspace regions may be displayed graphically. Examples of various placements of an assembly task in a workspace and the placements' corresponding maniputability ratings are given, along with a graphical display of the comparison of maniputability in the different workspace regions.
|Original language||English (US)|
|Title of host publication||Unknown Host Publication Title|
|Number of pages||6|
|State||Published - Jan 1 1987|