4 research outputs found
Global motion planner for curve-tracing robots, A
Includes bibliographical references.We present a global motion planner for tracing curves in three dimensions with robot manipulator tool frames. This planner generates an efficient motion satisfying three types of constraints: constraints on the tool tip for curve tracing, robot kinematic constraints and robot link collision constraints. Motions are planned using a global search algorithm and a local planner based on a potential-field approach. This planner can be used with any robots including redundant manipulators, and can control the trade-offs between its algorithmic completeness and computation time. It can be applied in many robotic tasks such as seam welding, caulking, edge deburring and chamfering, and is expected to reduce motion programming times from days to minutes.This work has been performed at Sandia National Laboratories and supported by the U.S. Department of Energy under Contract DE-AC04-76DP00789
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A global motion planner for curve-tracing robots
We present a global motion planner for tracing curves in three dimensions with robot manipulator tool frames. This planner generates an efficient motion satisfying three types of constraints; constraints on the tool tip for curve tracing, robot kinematic constraints and robot-link collision constraints. Motions are planned using a global search algorithm and a local planner based on a potential-field approach. This planner can be used with potential-field approach. This planner can be used with any robots including redundant manipulators, and can any robots including redundant manipulators, and can control the trade-offs between its algorithmic completeness and computation time. It can be applied in many robotic tasks such as seam welding, caulking, edge deburrring and chamfering, and is expected to reduce motion programming times from days to minutes
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Software development methodology for high consequence systems
This document describes a Software Development Methodology for High Consequence Systems. A High Consequence System is a system whose failure could lead to serious injury, loss of life, destruction of valuable resources, unauthorized use, damaged reputation or loss of credibility or compromise of protected information. This methodology can be scaled for use in projects of any size and complexity and does not prescribe any specific software engineering technology. Tasks are described that ensure software is developed in a controlled environment. The effort needed to complete the tasks will vary according to the size, complexity, and risks of the project. The emphasis of this methodology is on obtaining the desired attributes for each individual High Consequence System
Synthetic studies of the HIV-1 protease inhibitive didemnaketals: Stereocontrolled synthetic approach to the key mother spiroketals
[GRAPHICS] The stereocontrolled synthesis of (2S,4R,6R,8S,10S,1'R,1"R)-2(acetylhydroxymethyl)-4, 10-dimethyl-8(isopropenylhydroxymethyl)-1, 7-dioxaspiro[5,5]-undecane (4a) and its C1"-epimer (4b), the key mother spiroketals of the HIV-1 protease inhibitive didemnaketals from the ascidian Didemnum sp., has been carried out through multisteps from the natural (R)-(+)-pulegone, which involved the diastereoselective construction of four chiral carbon centers(C-2, C-6, C-8, and C-1') by intramolecular chiral induce