Frontiers of Assembly and Manufacturing

Assembly and manufacturing automation involves different problems, most of them derived from the physical interaction between parts, where any imprecision could produce important failures and consequently an increasing of the manufacturing costs. Properly task planning and programming, as well as the calibration of the involved systems, are quite frequently more complex than the task execution itself, and this is somehow strengthened by the continuous development of more and more versatile tools, with sophisticated features and high flexibility in their capabilities.

The book consists of six papers dealing with: a teaching system to simplify the robot programming, a calibration procedure to reduce position uncertainties, an approach to analyze object manufacturability in front of shape uncertainties with respect to the CAD model, a software tool to find and analyze the quality of fixturing points, a procedure to determine contact trajectories for object regrasping, and a model for two finger graspless manipulation of an object.