A Path Planning Approach to (Dis)Assembly Sequencing

被引：17

作者：

Le, Due Thanh ^{[1
]}

Cortes, Juan ^{[1
]}

Simeon, Thierry ^{[1
]}

机构：

[1] CNRS, LAAS, F-31077 Toulouse, France

来源：

2009 IEEE INTERNATIONAL CONFERENCE ON AUTOMATION SCIENCE AND ENGINEERING | 2009年

关键词：

D O I：

10.1109/COASE.2009.5234177

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The paper describes a new method for simultaneously (dis)assembly sequencing and path planning. Indeed, both are parts of a same problem that can be formulated in a general path planning framework. Rased on this formulation, the algorithm proposed in this paper extends a popular sampling-based path planner, RRT, to solve general (dis)assembly planning problems involving objects with arbitrary shapes, and possibly requiring non-monotonic (dis)assembly sequences. The method does not require complex geometric computations, and is easy to implement. Experimental results show the efficiency of the method for solving a large class of problems.

引用

页码：286 / 291

页数：6

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