1 / 10

Ken Goldberg, UC Berkeley

Putting the Turing into Manufacturing: Algorithmic Automation and Recent Developments in Feeding and Fixturing. Ken Goldberg, UC Berkeley. The Turing Machine, 1936. Precise vocabulary: 0, 1 Class of primitive operations: Read, Write, Shift Left, Shift Right Well Formed Sequences

craig
Télécharger la présentation

Ken Goldberg, UC Berkeley

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript

  1. Putting the Turing into Manufacturing: Algorithmic Automation and Recent Developments in Feeding and Fixturing Ken Goldberg, UC Berkeley

  2. The Turing Machine, 1936 • Precise vocabulary: 0, 1 • Class of primitive operations: • Read, Write, Shift Left, Shift Right • Well Formed Sequences • Correctness, Completeness • Equivalence, Complexity

  3. Algorithmic Automation: • Define Admissible Inputs • Define Admissible Operations • Output: all solutions or negative report • Complexity as function of input size

  4. Two Examples • Part Feeding • Part Fixturing and Holding

  5. Putting the Turing into Manufacturing • Automation • Algorithmic Part Feeding • 2D Polygonal Parts • 3D Polyhedral Parts • Traps • Blades • Algorithmic Fixturing • Modular Fixtures • Unilateral Fixtures • D-Space and Deform Closure • Related Work and Open Problems

  6. Solution: Kinematically Yielding Gripper (US Patent 5,098,145)

  7. Example: resulting 3-step plan

  8. Theorem (Completeness): A sensorless plan exists for any polygonal part. • Theorem (Correctness): The algorithm will always find the shortest plan. • Theorem (Complexity): For a polygon of n sides, the algorithm runs in time O(n2) and finds plans of length O(n). • Extensions: • Stochastically Optimal Plans • Extension to Non-Zero Friction • Geometric Eccentricity and constant time result (van der Stappen) • Pulling with point jaws inside concavities, Sorting with wedges

  9. 1770: Interchangeable Parts • 1910: Assembly Lines • 2030:Algorithmic Automation

More Related