{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,1,19]],"date-time":"2025-01-19T05:16:19Z","timestamp":1737263779273,"version":"3.33.0"},"reference-count":15,"publisher":"Wiley","issue":"5","license":[{"start":{"date-parts":[[2007,3,13]],"date-time":"2007-03-13T00:00:00Z","timestamp":1173744000000},"content-version":"vor","delay-in-days":7103,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["J. Robotic Syst."],"published-print":{"date-parts":[[1987,10]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>When two robot arms execute coordinated motions in assembly, collision between the two end\u2010effectors cannot be avoided. The collision effects on the two coordinating robots include two aspects: abrupt velocity changes of the robot joints and impulsive forces exerting on the contact point as well as on robot joints. Since the direction of the impulsive force exerting on the contact point is related to the relative position and orientation of the two mating parts, the impulsive force can be used to detect the alignment errors of the two end\u2010effectors. Thus a new assembly method is proposed in this article. The new method uses impulsive information to adjust the position and orientation errors of the two robot arms in assembly, rather than employing a compliance mechanism. The advantage of the new method is that the jamming problem, which is usually associated with compliance methods, never takes place. To make the method practically useful, wrist force sensors are suggested to installed at the wrist of each robot. Dynamic relations between the sensed information and the impulsive force at the contact point are then established. The sensed information thus becomes useful in analyzing the alignment situation. Finally, practical cases are studied to illustrate the use of the new assembly method.<\/jats:p>","DOI":"10.1002\/rob.4620040502","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T05:31:17Z","timestamp":1183699877000},"page":"585-603","source":"Crossref","is-referenced-by-count":2,"title":["Two robot arms in assembly by using impulsive information"],"prefix":"10.1002","volume":"4","author":[{"given":"Yuan F.","family":"Zheng","sequence":"first","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2007,3,13]]},"reference":[{"key":"e_1_2_1_2_2","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.1981.4308708"},{"key":"e_1_2_1_3_2","unstructured":"Zheng Y. F. andLuh J. Y. S. \u201cConstrained Relation Between Two Coordinated Industrial Robots \u201d Proceedings of 1985 Conference on Intelligent Systems and Machines April23\u201324 1985 Rochester Michigan pp.118\u2013123."},{"key":"e_1_2_1_4_2","doi-asserted-by":"crossref","unstructured":"Zheng Y. F. andLuh J. Y. S. \u201cControl of Two Coordinated Robots in Motion \u201d Proceedings of 24th Control and Decision Conference December11\u201313 1985 Fort Lauderdale Florida pp.1761\u20131766.","DOI":"10.1109\/CDC.1985.268839"},{"key":"e_1_2_1_5_2","doi-asserted-by":"crossref","unstructured":"McClarmroch N. H. \u201cSingular Systems of Differential Equations as Dynamic Model for Constrained Robotic Systems \u201d Proc. 1986 IEEE Intern. Conference on Robotics and Automation April7\u201310 1986 San Francisco California pp.21\u201328.","DOI":"10.1109\/ROBOT.1986.1087712"},{"key":"e_1_2_1_6_2","doi-asserted-by":"crossref","unstructured":"ZhengY. F.andLuh J. Y. 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YurkovichA.andAl\u2010AbbassA.\u201cControl of a Two\u2010Arm Robotic System: A Variable Structure Control Application \u201d Proc. 1987 IEEE Intern. Conference on Robotics and Automation Raleigh North Carolina March 30\u2010April 2 pp.1248\u20131253."},{"key":"e_1_2_1_11_2","doi-asserted-by":"publisher","DOI":"10.1002\/rob.4620020307"},{"key":"e_1_2_1_12_2","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.1987.289340"},{"key":"e_1_2_1_13_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.3149634"},{"key":"e_1_2_1_14_2","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-322-90942-8"},{"key":"e_1_2_1_15_2","doi-asserted-by":"crossref","unstructured":"Parker J. K. \u201cCharacterization and Control of Object Acquisition Using a Robot Hand \u201d Ph.D. dissertation in Mechanical Engineering Department Clemson University May 1985.","DOI":"10.23919\/ACC.1984.4788499"},{"volume-title":"Dynamics","year":"1968","author":"Pestel C. 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