Apparatus for generating a robotic plan for automatically assembling a mechanical component
This invention is comprised of an apparatus operable in combination with a robot positioned in a workcell having a preselected specification is operable to generate a program for operating the robot to assemble a mechanical component. The apparatus includes a planner for receiving as inputs a CAD model of the mechanical component to be assembled, a set of robot primitives and a set of mechanical component assembly rules for determining the conditions under which the set of robot primitives apply. The planner generates from these inputs a general, workcell specification-independent plan for assembling the mechanical component. The general plan generated by the planner is provided as an input to a compiler along with details relating to the workcell specification, and the compiler generates from these inputs a workcell specification-dependent program which operates the robot to assemble the mechanical component.
- Research Organization:
- Sandia National Labs., Albuquerque, NM (United States)
- Sponsoring Organization:
- USDOE, Washington, DC (United States)
- DOE Contract Number:
- AC04-76DP00789
- Assignee:
- Dept. of Energy
- Patent Number(s):
- PATENTS-US-A7739378
- Application Number:
- ON: DE93019337; PAN: 7-739,378
- OSTI ID:
- 10179726
- Resource Relation:
- Other Information: PBD: 1991
- Country of Publication:
- United States
- Language:
- English
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