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- W2052957775 abstract "Abstract Experience has proved that exploiting robots for assembly tasks is much more difficult than manufacturing engineers had expected and many attempts at implementing robotic assembly have failed. Our research has led us to believe that a formal approach to specifying the steps required for assembly would be of great benefit in developing the required software for a specific task, and in adaptively controlling and monitoring the execution of robotic assembly steps. The US National Bureau of Standards has developed a formal system, called ABC (for Assembly By Constraints) for specifying the steps required for assembly. The system is based on the reduction in the degrees of freedom of objects as they are assembled. Using this basic concept, we have developed 14 primitive operations which can be used to completely specify assembly steps for a large class of problems. This paper initially outlines the historical development of the system, then describes two pieces of software developed to allow easy definition of assembly tasks using the ABC system, and finally presents two practical examples." @default.
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- W2052957775 date "1988-01-01" @default.
- W2052957775 modified "2023-09-27" @default.
- W2052957775 title "A formal approach to specifying assembly operations" @default.
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- W2052957775 doi "https://doi.org/10.1016/0890-6955(88)90019-3" @default.
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