五自由度液压搬运机械手设计（全套含CAD图纸）
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COMBINATIONOFROBOTCONTROLANDASSEMBLYPLANNINGFORAPRECISIONMANIPULATOORABSTRACTTHISPAPERRESEARCHESHOWTOREALIZETHEAUTOMATICASSEMBLYOPERATIONONATWOFINGERPRECISIONMANIPULATORAMULTILAYERASSEMBLYSUPPORTSYSTEMISPROPOSEDATTHETASKPLANNINGLAYER,BASEDONTHECOMPUTERAIDEDDESIGNCADMODEL,THEASSEMBLYSEQUENCEISFIRSTGENERATED,ANDTHEINFORMATIONNECESSARYFORSKILLDECOMPOSITIONISALSODERIVEDTHEN,THEASSEMBLYSEQUENCEISDECOMPOSEDINTOROBOTSKILLSATTHESKILLDECOMPOSITIONLAYERTHESEGENERATEDSKILLSAREMANAGEDANDEXECUTEDATTHEROBOTCONTROLLAYEREXPERIMENTALRESULTESHOWTHEFEASIBILITYANDEFFICIENCYOFTHEPROPOSEDSYSTEMKEYWORDSMANIPULATORASSEMBLYPLANNINGSKILLDECOMPOSITIONAUTOMATEDASSEMBLY1INTRODUCTIONOWINGTOTHEMICROELECTROMECHANICALSYSTEMSMEMSTECHNIQUES,MANYPRODUCTSAREBECOMINGVERYSMALLANDCOMPLEX,SUCHASMICROPHONES,MICROOPTICALCOMPONENTS,ANDMICROFLUIDICBIOMEDICALDEVICES,WHICHCREATESINCREASINGNEEDSFORTECHNOLOGIESANDSYSTEMSFORTHEAUTOMATEDASSEMBLYHAVEBEENFOCUSEDONMICROASSEMBLYTECHNOLOGIESHOWEVER,MICROASSEMBLYTECHNIQUESOFHIGHFLEXIBILITY,EFFICIENCY,ANDRELIABILITYSKILLOPENTOFURTHERRESEARCHTHISPAPERRESEARCHESTOHOWTOREALIZETHEAUTOMATICASSEMBLYOPERATIONONATWOFINGERMICROMANIPULATORAMULILAYERASSEMBLYSUPPORTSYSTEMISPROPOSEDAUTOMATICASSEMBLYISACOMPLEXPROBLEMWHICHMAYINVOLVEMANYDIFFERENTISSUES,SUCHASTASKPLANNING,ASSEMBLYSEQUENCESGENERATION,EXECUTION,ANDCONTROL,ETCITCANBESIMPLYDIVIDEDINTOTWOPHASES,THEASSEMBLYPLANNINGANDTHEROBOTCONTROLATTHEASSEMBLYPLANNINGPHASE,THEINFORMATIONNECESSARYFORASSEMBLYOPERATION,SUCHASTHEASSEMBLYSEQUENCE,ISGENERATEDATTHEROBOTCONTROLPHASE,THEROBOTISDRIVENBASEDONTHEINFORMATIONGENERATEDATTHEASSEMBLYPLANNINGPHASE,ANDTHEASSEMBLYOPERATIONSARECONDUCTEDSKILLPRIMITIVESCANWORKASTHEINTERFACEOFASSEMBLYPLANNINGTOROBOTCONTROLSEVERALROBOTSYSTEMSBASEDONSKILLPRIMITIVESHAVEBEENREPORTEDTHEBASICIDEABEHINDTHESESYSTEMSISTHEROBOTPROGRAMMINGROBOTMOVEMENTSARESPECIFIEDASSKILLPRIMITIVES,BASEDONWHICHTHEASSEMBLYTASKISMANUALLYCODEDINTOPROGRAMSWITHTHEPROGRAMS,THEROBOTISCONTROLTOASSEMBLYTASKSAUTOMATICALLYASKILLBASEDMICROMANIPULATIONSYSTEMHASBEENDEVELOPEDINTHEAUTHORSLAB,ANDITCANREALIZEMANYMICROMANIPULATIONOPERATIONSINTHESYSTEM,THEASSEMBLYTASKISMANUALLYDISCOMPOSEDINTOSKILLSEQUENCESANDCOMPLIEDINTOAFILEAFTERIMPORTINGTHEFILEINTOTHESYSTEM,THESYSTEMCANAUTOMATICALLYEXECUTETHEASSEMBLYTASKTHISPAPERATTEMPTSTOEXPLOREAUSERFRIENDLY,ANDATTHESAMETIMEEASY,SEQUENCEGENERATIONMETHOD,TORELIEVETHEBURDENOFMANUALLYPROGRAMMINGTHESKILLSEQUENCEITISANEFFECTIVEMETHODTODETERMINETHEASSEMBLYSEQUENCEFROMGEOMETRICCOMPUTERAIDEDDESIGNCADMODELSMANYAPPROACHESHAVEBEENPROPOSEDTHISPAPERAPPLIESASIMPLEAPPROACHTOGENERATETHEASSEMBLYSEQUENCEITISNOTINVOLVEDWITHTHELOWLEVELDATASTRUCTUREOFTHECADMODEL,ANDCANBEREALIZEDWITHTHEAPPLICATIONPROGRAMMINGINTERFACEAPIFUNCTIONSGRAPHAMONGDIFFERENTCOMPONENTSISFIRSTCONSTRUCTEDBYANALYZINGTHEASSEMBLYMODEL,ANDTHEN,POSSIBLESEQUENCESARESEARCHED,BASEDONTHEGRAPHACCORDINGTOCERTAINCRITERION,THEOPTIMALSEQUENCEISFINALLYOBTAINEDTODECOMPOSETHEASSEMBLYSEQUENCEINTOROBOTSKILLSEQUENCES,SOMEWORKSHAVEBEENREPORTEDINNNAJIETALWORK,THEASSEMBLYTASKCOMMANDSAREEXPANDEDTOMOREDETAILEDCOMMANDS,WHICHCANBEASROBOTSKILLS,ACCORDINGTOAPREDEFINEDFORMATTHEDECOMPOSITIONAPPROACHOFMOSEMANNANDWAHLISBASEDONTHEANALYSISOFHYPERARCSOFAND/ORGRAPHSREPRESENTINGTHEAUTOMATICALLYGENERATEDASSEMBLYPLANSTHISPAPERPROPOSESAMETHODTOGUIDETHESKILLDECOMPOSITIONTHEASSEMBLYPROCESSESOFPARTSAREGROUPEDINTODIFFERENTSTARTATATEANDTARGETOFTHEWORKFLOW,THESKILLGENERATORCREATESASERIESOFSKILLSTHATCANPROMOTETHEPARTTOITSTARGETSTATETHEHIERARCHYOFTHESYSTEMPROPOSEDHERE,THEASSEMBLYINFORMATIONONHOWTOASSEMBLEAPRODUCTISTRANSFERREDTOTHEROBOTTHROUGHMULTIPLELAYERSTETOPLAYERISFORTHEASSEMBLYTASKPLANNINGTHEINFORMATIONNEEDEDFORTHETASKPLANNINGANDSKILLGENERATIONAREEXTRACTEDFROMTHECADMODELANDARESAVEDINTHEDATABASEBASEONTHECADMODEL,THEASSEMBLYTASKSQUENCESAREGENERATEDATTHESKILLDECOMPOSITIONLAYER,TASKSAREDECOMPOSEDINTOSKILLSEQUENCESTHEGENERATEDSKILLSAREMANAGEDANDEXECUTEDATTHEROBOTCONTROLLAYER2TASKPLANNINGSKILLSARENOTUSEDDIRECTLYATTHEASSEMBLYPLANNINGPHASE,THECONCEPTOFATASKISUSEDATASKCANFULFILLASERIESOFASSEMBLYOPERATIONS,FOREXAMPLE,FROMLOCATINGAPART,THROUGHMOVINGTHEPART,TOFIXINGITWITHANOTHERPARTINOTHERWORDS,ONETASKINCLUDESMANYFUNCTIONSTHATMAYBEFULFILLEDBYSEVERALDIFFERENTSKILLSATASKISDEFINEDASTBASEPARTASSEMBLYPARTOPERATIONBASEDPARTANDASSEMBLYPARTARETWOPARTSTHATAREASSEMBLEDTOGETHERBASEPARTISFIXEDONTHEWORKTABLE,WHILEASSEMBLYPARTISHANDLEDBYROBOTSENDEFFECTORANDASSEMBLEDONTOTHEBASEPARTOPERATIONDESCRIBESHOWTHEASSEMBLYPARTISASSEMBLEDWITHTHEBASEPARTOPERATIONINTERTIONT,SEREWT,ALIGNT,THESTRUCTUREOFMICROPARTSISUSUALLYUNCOMPLICATED,ANDTHEYCANBEMODELEDBYTHECONSTRUCTIVESOLIDGEOMETRYCAGMETHODCURRENTLY,MANYCOMMERCIALCADSOFTWAREPACKAGESCANSUPPORT3DCSGMODELINGTHEASSEMBLYMODELISREPRESENTEDASANOBJECTTHATCONSISTSOFTWOPARTSWITHCERTAINASSEMBLYRELATIONSTHATDEFINEHOWTHEPARTSARETOBEASSEMBLEDINTHECADMODEL,THERELATIONSAREDEFINEDBYGEOMETRICCONSTRAINTSTHEGEOMETRICINFORMATIONCANNOTBEUSEDDIRECTLYTOGUIDETHEASSEMBLYOPERATIONWEHAVETODERIVETHEINFORMATIONNECESSARYFORASSEMBLYOPERATIONSFROMTHECADMODELTHROUGHSEARCHINGTHEASSEMBLYTREEANDGEOMETRICRELATIONSMATESRELATIONSDEFINEDINTHEASSEMBLYSCADMODEL,WECANGENERATEARELATIONGRAPHAMONGPARTS,FOREXAMPLE,INTHEGRAPH,THENODESREPRESENTTHEPARTSIFNODESARECONNECTED,ITMEANSTHATTHEREAREASSEMBLYRELATIONSAMONGTHESECONNECTEDNODESPARTS21MATINGDIRECTIONINCSG,THERELATIONSOFTWOPARTS,GEOMETRICCONSTRAINTS,AREFINALLYREPRESENTEDASRELATIONSBETWEENPLANESANDLINES,SUCHASCOLLINEAR,COPLANAR,TANGENTIAL,PERPENDICULAR,ETCFOREXAMPLE,ASHAFTISASSEMBLEDINAHOLETHEASSEMBLYRELATIONSBETWEENTHETWOPARTSMAYCONSISTOFSUCHTWOCONSTRAINTSASCOLLINEARBETWEENTHECENTERLINEOFSHAFTLCSHAFTANDTHECENTERLINEOFHOLELCHOLEANDCOPLANARBETWEENTHEPSHAFTANDTHEPLANEPHOLETHEMATINGDIRECTIONISAKEYISSUE,FORANASSEMBLYOPERATIONTHISPAPERAPPLIESTHEFOLLOWINGAPPROACHTOCOMPUTETHEPOSSIBLEMATINGDIRECTIONBASEDONTHEGEOMETRICCONSTRAINTSTHESHAFTINHOLEOPERATIONOFFIG3ISTAKENASANEXAMPLEFORAPARTINTHERELATIONGRAPH,CALCULATEITSREMAININGDEGREESOFFREEDOM,ALSOCALLEDDEGREESOFSEPARATION,OFEACHGEOMETRICCONSTRAINTFORTHECONPLANARCONSTRAINT,THEREMAININGDEGREESOFFREEDOMARER1X,Y,ROTZFORTHECOLLINEARCONSTRAINT,THEREMAININGDEGREESOFFREEDOMARER2Z,ROTZR1ANDR2CANALSOBEREPRESENTEDASR11,1,0,0,0,1ANDR20,0,1,0,0,1HERE,1MEANSTHATTHEREISADEGREEOFSEPARATIONBETWEENTHETWOPARTSR1R20,0,0,0,1,ANDSO,THEDEGREEOFFREEDOMAROUNDTHEZAXISWILLBEIGNOREDINTHEFOLLOWINGSTEPSINTHEEASETHATTHEREISLOOPINTHERELATIONGRAPH,SUCHASPARTSPART5,PART6,ANDPART7INFIG2,THELOOPHASTOBEBROKENBEFORETHEMATINGDIRECTIONISCALCULATEDUNDERTHEASSUMPTIONTHATALLPARTSINTHECADMODELAREFULLYCONSTRAINEDANDNOTOVERCONSTRAINED,THEFOLLOWINGSIMPLEAPPROACHISADOPTEDFORTHEPARTTINTHELOOP,CALCULATETHENUMBEROFISINNINRI1RI2RINWHERERISTHEREMAININGDEGREESOFFREEDOMOFCONSTRAINTKBYPARTIFOREXAMPLE,INFIG2,GIVENTHATTHENUMBEROF1SINUISLARGERTHANU,THENITCANBEREGARDEDTHATTHEPOSITIONOFPART7ISDETERMINEDBYCONSTRAINTSBETWEENPART5ANDPART6,WHILEPART5ANDPART6CANBEFULLYCONSTRAINEDBYCONSTRAINTSBETWEENPART5ANDPART6WECANUNITEPART5ANDPART6ASONENODEWILLBEREGARDEDASASINGLE,BUTITISOBVIOUSTHATTHECOMPOSITENODEIMPLIESANASSEMBLYSEQUENCECALCULATEMATINGDIRECTIONSFORALLNODESINTHERELATIONGRAPHAGAIN,BEGINNINGATTHESTATETHATTHESHAFTANDTHEHOLEAREASSEMBLED,SEPARATETHEPARTINONEDEGREEOFSEPARATIONBYACERTAINDISTANCELARGERTHANTHEMAXIMUMTOLERANCE,ANDTHANCHECKIFINTERFERENCEOCCURSSEPARATIONINBOTHXAXISANDYAXISOFR1CAUSESTHEINTERFERENCEBETWEENTHESHAFTANDTHEHOLESEPARATIONINTHEZDIRECTIONRAISESONINTERFERENCETHEN,SELECTTHEZDIRECTIONASTHEMATINGDIRECTION,WHICHISREPRESENTEDASAVECTORMMEASUREDINTHECOORDINATESYSTEMOFTHEASSEMBLYITSHOULDBENOTEDTHAT,INSOMECASE,THEREMAYBESEVERALPOSSIBLEMATINGDIRECTIONSFORAPARTTHECONDITIONFORASSEMBLYOPERATIONINTHEMATINGDIRECTIONATTHEASSEMBLEDSTATE,WHICHCANBECHECKEDSIMPLYWITHGEOMETRICCONSTRAINTS,THEENDCONDITIONISMEASUREDBYFORCESENSORYINFORMATION,WHEREASPOSITIONINFORMATIONISUSEDASANENDCONDITIONCALCULATETHEGRASPINGPOSITIONINTHISPAPER,PARTSAREHANDLEDANDMANIPULATEDWITHTWOSEPARATEPROBES,WHICHWILLBEDISCUSSEDINTHESECT4,ANDPLANESOREDGESARECONSIDEREDFORGRASPINGINTHECASETHATTHEREARESEVERALMATINGDIRECTIONS,THEGRASPINGPLANSARESELECTEDASG1G2GI,WHEREGIISPOSSIBLEGRASPINGPLANE/EDGESETFORTHEITHMATINGDIRECTIONWHENTHEPARTISATITSFREESTATEFOREXAMPLE,INFIG4,THEPAIRPLANESP1/P1,P2/P2,ANDP3/P3CANSERVEASPOSSIBLEGRASPINGPLANES,ANDTHENTHEGRASPINGPLANESAREP1/P1,P2/P2,P3/P3/P1/P1,P3/P3/P1/P1,P2/P2P1/P1THEAPPROACHINGDIRECTIONOFTHEENDEFFECTORISSELECTEDASTHENORMALVECTOROFTHEGRASPINGPLANESITISOBVIOUSTHATNOTALLPOINTSONTHEGRASPINGPLANECANBEGRSPEDTHEFOLLOWINGMETHODISUSEDTODETERMINETHEGRASPINGAREATHEENDEFFECTOR,WHICHISMODELEDASACUBOID,ISFIRSTADDEDINTHECADMODEL,WITHTHECONSTRAINTOFCOPLANARORTANGENTIALWITHTHEGRASPINGPLANEBEGINNINGATTHEEDGETHATISFARAWAYFROMTHEBAEPARTINTHEMATINGDIRECTION,MOVETHEENDEFFECTORINTHEMATINGDIRECTIONALONGTHEGRASPINGPLANEUNTILTHEENDEFFECTORISFULLYINCONTACTWITHTHEPART,THEGRASPINGPLANEISFULLYINCONTACTWITHTHEENDEFFECTOR,ORACOLLISIONOCCURSRECORDTHEEDGEANDTHEDISTANCE,BOTHOFWHICHAREMEASUREDINTHEPARTSCOORDINATESYSTEMSEPARATEGRADUALLYTHETWOPARTSALONGTHEMATINGDIRECTION,WHICHCHECKINGINTERFERENCEINTHEOTHERDEGREESOFSEPARATION,UNTILNOINTERFERENCEOCCURSINALLOFTHEOTHERDEGREESOFSEPARATIONTHEREISOBVIOUSLYASEPARATIONDISTANCETHATASSURESINTERFERENCENOTTOOCCURINEVERYDEGREEOFSEPARATIONITISCALLEDTHESAFELENGTHINTHATDIRECTIONTHISLENGTHISUSEDFORTHECOLLISIONFREEPATHCALCULATION,WHICHWILLBEDISCUSSEDINTHEFOLLOWINGSECTION22ASSEMBLYSEQUENCESOMECRITERIACANBEUSEDTOSEARCHTHEOPTIMALASSEMBLYSEQUENCE,SUCHASTHEMECHANICALSTABILITYOFSUBASSEMBLIES,THEDEGREEOFPARALLELEXECUTION,TYPESOFFIXTURES,ETCBUTFORMICROASSEMBLY,WESHOULDPAYMOREATTENTIONTOONEOFITSMOSTIMPORTANTFEATURES,THELIMITEDWORKSPACE,WHENSELECTINGTHEASSEMBLYSEQUENCEMICROASSEMBLYOPERATIONSAREUSUALLYCONDUCTEDANDMONITOREDUNDERMICROSCOPY,ANDTHEWORKSPACEFORMICROASSEMBLYISVERYSMALLTHEASSEMBLYSEQUENCEBRINGSMUCHINFLUENCEONTHEASSEMBLYEFFICIENCYFOREXAMPLE,ASIMPLEASSEMBLYWITHTHREEPARTSINSEQUENCEA,PARTAISFIRSTFIXEDONTOPARTBINTHECASETHATPARTCCANNOTBEMOUNTEDINTHEWORKSPACEATTHESAMETIMEWITHCOMPONENTABBECAUSEOFTHESMALLWORKSPACE,INORDERTOASSEMBLEPARTCWITHAB,COMPONENTABHASTOUNMOUNTEDFROMTHEWORKSPACETHEN,COMPONENTCISTRANSPORTEDANDFIXEDINTOTHEWORKSPACEAFTERTHAT,COMPONENTABISTRANSPORTEDBACKINTOTHEWORKSPACEAGAININSEQUENCEB,THEREISNONEEDTOUNMOUNTPAYPARTSEQUENCEAISOBVIOUSLYINEFFICIENTANDMAYCAUSEMUCHUNCERTAINTYBYANASSEMBLYSEQUENCE,THEMOREINEFFICIENTTHEASSEMBLYSEQUENCEINTHISPAPER,DUETOTHESMALLWORKSPACEFEATUREOFMICROASSEMBLY,THENUMBEROFTIMESNECESSARYFORMOUNTINGOFPARTSISSELECTEDASTHESEARCHCRITERIATOFINDTHEASSEMBLYSEQUENCETHATHASAFEWANUMBEROFTIMESFORTHEMOUNTINGOFPARTSASPOSSIBLETHISPAPERPROPOSESTHEFOLLOWINGAPPROACHTOSEARCHTHEASSEMBLYSEQUENCETHERELATIONGRAPHOFTHEASSEMBLYISUSEDTOSEARCHTHEOPTIMALASSEMBLYSEQUENCEHEURISTICAPPROACHESAREADOPTEDINORDERTOREDUCETHESEARCHTIMESCHECKNODESCONNECTEDWITHMORETHANTWONODESIFTHEMATINGDIRECTIONSOFITSCONNECTEDNODESAREDIFFERENT,MARKTHEMASINACTIVENODES,WHEREASMARKTHESAMEMATINGDIRECTIONSASACTIVEMATINGDIRECTIONSELECTANODETHATISNOTANINACTIVENODEMARKTHECURRENTNODEASTHEBASENODEPARTTHEFIRSTBASEPARTISFIXEDONTHEWORKSPACEWITHTHEMATINGDIRECTIONUPSIDETHISISDONEINTHECADMODELCOMPARETHESIZEEG,WEIGHTORVOLUMEOFTHEBASEPARTWITHITSCONNECTEDPARTS,WHICHCANBEDONEEASILYBYREADINGTHEBILLOFMATERIALSBOMOFTHEASSEMBLYIFTHEBASEPARTISMUCHSMALLER,THENMARKITASANINACTIVENODESELECTANODECONNECTEDWITHTHEBASENODEASANASSEMBLYNODEPARTCHECKTHEMATINGDIRECTIONIFTHEBASENODENEEDSTOBEUNMOUNTEDFROMTHEWORKSPACEIFNEEDED,UPDATEAVARIABLEINTHECADMODEL,MOVETHEASSEMBLYPARTTOTHEBASEPARTINTHEPOSSIBLEMTINGDIRECTION,WHICHCHECKINGIFINTERFERENCECOLLISIONOCCURSIFINTERFERENCEOCCURS,MARKTHEBASENODEASANINACTIVENODEANDGOTOSTEP2,WHEREASSELECTTHEOPERATIONTYPEACCORDINGTOPARTSGEOMETRICFEATURESINTHISSTEP,ANOBSTACLEBOXISALSOCOMPUTEDTHEBOX,WHICHISMODELEDASACUBOID,INCLUDESALLPARTSINTHEWORKSPACEITISUSEDTOCALCULATETHECOLLICIONFREEPATHTOMOVETHEASSEMBLYPART,WHICHWILLBEINTRODUCEDINTHEFOLLOWINGSECTIONTHEOBSTACLEBOXISDESCRIBEDBYAPOSITIONVECTORANDITSWIDTH,HEIGHT,ANDLENGTHRECORDTHEASSEMBLYSEQUENCEWITHOPERATIONTYPE,THEMATINGDIRECTION,ANDTHEGRASPINGPOSITIONIFALLNODESHAVEBEENSEARCHED,THENMARKTHEFIRSTBASENODEASANINACTIVENODEANDGOTOSTEP2IFNOT,SELECTANODECONNECTEDWITHTHEASSEMBLYNODEMARKITASANASSEMBLYNODE,ANDTHEASSEMBLYNODETHATISSAMEASTHEMATINGDIRECTIONOFTHEFORMERASSEMBLYNODEIFTHEREIS,USETHEFORMERMATINGDIRECTIONINTHEFOLLOWINGSTEPSGOTOSTEP3AFTERSEARCHINGTHEENTIREGRAPH,WEMAYHAVESEARCHASSEMBLYSEQUENCESCOMPARINGTHEVALUESOFMOUNT,THEMOREEFFICIENTONECANBESELECTEDIFTHEREARENNODESINTHERELATIONGRAPHOFFIG2B,ALLOFWHICHARENOTCLASSEDASINACTIVENODE,ANDEACHNODEMAYHAVEMMATINGDIRECTIONS,THENITNEEDSMCOMPUTATIONSTOFINDALLASSEMBLYSEQUENCESBUTBECAUSE,USUALLY,ONEPARTONLYHASONEMATINGDIRECTION,ANDTHEREARESOMEINACTIVENODES,THECOMPUTATIONSHOULDBELESSTHANMNITSHOULDBENOTEDTHAT,INTHEABOVECOMPUTATION,SEVERALCOORDINATESYSTEMSAREINVOLVED,SUCHASTHECOORDINATESOFTHEASSEMBLYSEQUENCES,THECOORDINATESOFTHEBASEPART,ANDTHECOORDINATES,OFTHEASSEMBLYTHERELATIONSAMONGTHECOORDINATESAREREPRESENTEDBYA44TRANSFORMATIONMATRIX,WHICHISCALCULATEDBASEDONTHEASSEMBLYCADMODELWHENCREATINGTHERELATIONSGRAPHTHESEMATRIXESARESTOREDWITHALLOTHERELATEDPARTSINTHEDATABASETHEYAREALSOUSEDINSKILLDECOMPOSITION3SKILLDECOMPOSITIONANDEXECUTION31DEFINITIONOFSKILLPRIMITIVESKILLPRIMITIVESARETHEINTERFACEBETWEENTHEASSEMBLYPLANNINGANDROBOTCONTROLTHEREHAVEBEENSOMEDEFINITIONSONSKILLPRIMITIVESTHEBASICDIFFERENCEAMONGTHESEDEFINITIONSISTHESKILLSCOMPLEXITYANDFUNCTIONSTHATONESKILLCANFULFILLFROMTHEPOINTOFVIEWOFASSEMBLYPLANNING,ITISOBVIOUSLYBETTERTHATONESKILLCANFULFILLMOREFUNCTIONSHOWEVER,THECONTROLOFASKILLWITHMANYFUNCTIONSMAYBECOMECOMPLICATEDINTHEPAPER,TWOSEPARATEPROBES,RATHERTHANASINGLEPROBEORPROCESSISNOTEASYINADDITION,FOREXAMPLE,MOVINGAPARTMAYINVOLVENOTONLYTHEMANIPULATORBUTALSOTHEWORKTABLETHEREFORE,TOSIMPLIFYTHECONTROLPROCESS,SILLSDEFINEDINTHEPAPERDONOTINCLUDEMANYFUNCTIONSMOREIMPORTANTLY,THESKILLSSHOULDBEEASILYAPPLIEDTOVARIOUSASSEMBLYTASKS,THATIS,THESETOFSKILLSHOULDHAVEGENERALITYTOEXPRESSSPECIFICTASKSTHERESHOULDNOTBEOVERLAPAMONGSKILLINTHEPAPER,ASKILLPRIMITIVEFORROBOTCONTROLISDEFINEDASATTRIBUTEI,ACTIONIATTRIBUTEI,SISTARTIATTRIBUTEI,ENDIATTRIBUTEICONDITIONIATTRIBUTEIATTRIBUTEIINFORMATIONNECESSARYFORSITOBEEXECUTEDTHEYCANBECLASSIFIEDASREQUIREDATTRIBUTESANDOPTIONATTRIBUTES,ORSENSORYATTRIBUTESANDCADMODELDRIVENATTRIBUTESTHEATTRIBUTESAREREPRESENTEDBYGLOBALVARIABLESUSEDINDIFFERENTLAYERSACTION_IROBOTSACTION,WHICHISTHEBASICSENSORMOTIONMANYACTIONSAREDEFINEDINTHESYSTEM,SUCHASMOVE_WORKTABLE,MOVE_PROBES,ROTATION_WORKTABLE,ROTATION_PROBES,TOUCH,INSERT,SCREW,GRASP,ECTFORONESKILL,THEREISONLYONEACTIONDUETOTHELIMITEDSPACE,THEDETAILSOFACTIONSWILLNOTBEDISCUSSEDINTHEPAPERSTART_ITHESTARTSTATEOFACTION_I,WHICHISMEASUREDBYSENSORVALUESEND_ITHEENDSTATEOFACTION_I,WHICHISMEASUREDBYSENSORVALUESCONDITION_ITHECONDITIONUNDERWHICHACTION_IISEXECUTEDFROMTHEABOVEDEFINITIONS,WEMAYFINDTHATSKILLPRIMITIVESINTHEPAPERBOBOTMOTIONSWITHSTARTSTATEANDENDSTATE,ANDTHATTHEYAREEXECUTEDUNDERSPECIFICCONDITIONSASSEMBLYPLANNINGINTHEPAPERISTOGENERATEASEQUENCEOFROBOTACTIONSANDTOASSIGNVALUESTOATTRIBUTESPFTHEDEACTIONS32SKILLDECOMPOSITIONSOMEAPPROACHESHAVEBEENPROPOSEDFORSKILLDECOMPOSITIONTHISPAPERPRESENTSANOVELAPPROACHTOGUIDETHESKILLDECOMPOSITIONASDISCUSSEDABOVE,INTHEPRESENTPAPER,ATASKISTOASSEMBLETHEASSEMBLY_PARTWITHTHEBASE_PARTWEDEFINETHEPROCESSFROMTHESTATETHATASSEMBLY_PARTISATAFREESTATETOTHESTATEITISFIXEDWITHBESE_PARTASTHEASSEMBLYLIFESTYLEOFTHEASSEMBLY_PARTINITSASSEMBLYLIFECYCLE,THEASSEMBLY_PARTMAYBEATDIFFERENTASSEMBLYSTATESHERESHOWSASHAFTSSATESSHOWASBLOCKSANDASSOCIATEDWORKFLOWSOFANINSERTIONTASKAWORKFLOWCONSISTINGOFGROUPOFSKILLSPUSHESFORWARDTHEASSEMBLY_PARTFROMONESTATETOANOTHERSTATEAWORKFLOWISASSOCIATEDWITHASPECIFICSKILLGENERATORTHATISINCHARGEOFGENERATINGSKILLSFORDIFFERENTASSEMBLYTASKS,THESAMEWORKFLOWSMAYBEUDED,THOUGHSPECIFICSKILLSGENERATEDFORDIFFERENTTASKSMAYBEDIFFERENTTHESYSTEMPROVIDESDEFAULTTASKTEMPLATES,INWHICHDEFAULTSTATESAREDEFINEDTHESETEMPLATESAREIMPORTEDINTOTHESYSTEMANDINSTANTIATEDAFTERTHEYAREASSOCIATEDWITHTHECORRESPONDINGASSEMBLY_PARTINSOMECASES,SOMESTATESDEFINEDBYTHEDEFAULTTEMPLATEMAYBENOTNEEDEDFOREXAMPLE,DETERMINEDBYTHEFIXTURE,THENTHEFREEANDIN_WSSTATESCANBEREMOVEDFROMTHESHAFTSASSEMBLYLIFECYCLETHESYSTEMPROVIDESATOOLFORUSERSTOMODIFYTHEDETEMPLATESORGENERATETHEIROWNTEMPLATESTHETOOLSUSERINTERFACEISDISPLAYEDINFORAWORKFLOW,THESTARTSTATEISMEASUREDBYSENSORYVALUES,WHICHTHETARGETSTATEISCALCULATEDBASEDONTHECADMODELANDSENSORYATTRIBUTESACCORDINGTOTHESTARTSTATEANDTARGETSTATE,THEGENERATORGENERATESASERIESOFSKILLSHERE,WEUSETHEMOVEWORKFLOWINASANEXAMPLETOSHOWHOWSKILLSAREGENERATEDAFTERTHEASSEMBLYTASKASSEMBLYLIFECYCLEISINITIATED,THETEMPLATEISREADINTOTHECOORDINATORFORTHEWORKFLOWMOVE,ITSSTARTISGRASPED,WHICHIMPLIESTHATTHEASSEMBLY_PARTISGRASPEDBYTHEROBOTSENDEFFECTORAND,OBVIOUSLY,THEPOSITIONOFTHEASSEMBLY_PARTISALSOOBTAINEDITSTARGETSTATEISADJUSTED,WHICHISTHESTATEIMMEDICTELYBEFOREITISTOBEFIXEDWITHTHEBASE_PARTATTHEADJUSTEDATATE,THEORIENTATIONOFTHEASSEMBLY_PARTISDETERMINEDBYTHEMATINGDIRECTION,WHICHTHEPOSITIONISDETERMINEDBYTHESAFELENGTHTHESEVALUESHAVEBEENCALUATEDINTHETASKPLANNINGLAYERANDARESTOREDINADATABASEWHENTHETASKTEMPLATEISIMPORTED,THESEVALUEDAREREADINTOTHEMEMORYATCOORDINATEANDTRANSFORMEDINTOTHECOORDINATEDOFTHEWORKSPACETHEREISANIMPORTANTANDNECESSARYSTEPTHATHASTOBEPERFORMEDINTHESKILLDECOMPOSITIONPHASETHEGENERATIONOFACOLLISIONFREEPATHHERE,WEUSEASTRAIGHTLINEPATH,WHICHISSIMPLEANDEASYCALCULATEDASSUMETHATP3ISTHEPOSITIONOFTHEASSEMBLYPARTATTHEADJUSTEDSTATEANDP0ISTHEPOSITIONATTHEGRASPEDSTATETHEFOLLOWINGAPPROACHISAPPLIEDTOGENERATETHEPATHBASEDONTHEORIENTATIONOFTHEASSEMBLYPARTANDMATINGDIRECTION,SELECTSKILLSROTATETABLEORROTATEPROBESTOADJUSTTHEORIENTATIONOFTHEPARTANDASSIGNVALUESTOTHEATTRIBUTESOFTHESESKILLSBASEDONTHEOBSTACLEBOX,MATINGDIRECTION,REALPOSITION/ORIENTATIONOFTHEASSEMBLYPART,THEINTERMEDIATEPOSITIONSP1ANDP2NEEDTOBECALCULATEDFOREACHSEGMENTPATH,VERIFYWHETHERTHEMOVETABLESKILLFORALARGERANGEORTHEMOVEPROBESKILLFORASMALLRANGESHOULDBEUSEDGENERATESKILLLISTSFOREACHSEGMENTANDASSIGNVALUESTOTHESESKILLS33EXECUTIONOFSKILLSAFTERAGROUPOFSKILLSWHICHCANPROMOTETHEPARTASPECIFICSTATEAREGENERATED,THESESKILLSARETRANSFERREDTOTHESKILLMANAGEMENTMODELTHESYSTEMPROMOTESONEORSEVERALSKILLSI
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