Title :
Haptic simulation of fixture loading planning
Author :
Liu, Tonh ; Wang, Michael Yu
Author_Institution :
Dept. of Autom. & Comput. Eng., Chinese Univ. of Hong Kong, Shatin
Abstract :
The paper presents a haptic-guided fixture loading planning system. The system consists three parts, a multi-body contact dynamics solver based on time-stepping, and Gauss-Seidel method, a planning scheme based on a criteria of non-jamming condition that can monotonously increase the contacts with locators, and a haptic simulation system
Keywords :
position control; robot dynamics; Gauss-Seidel method; haptic simulation system; haptic-guided fixture loading planning system; multi-body contact dynamics solver; Computational modeling; Fixtures; Gaussian processes; Haptic interfaces; Jamming; Manipulators; Motion planning; Robotic assembly; Robotics and automation; Trajectory;
Conference_Titel :
Robotics and Biomimetics (ROBIO). 2005 IEEE International Conference on
Conference_Location :
Shatin
Print_ISBN :
0-7803-9315-5
DOI :
10.1109/ROBIO.2005.246261
