A path planning approach to (dis) assembly sequencing

Authors:
Duc Thanh Le;Juan Cortés;Thierry Siméon
Affiliations:
CNRS, LAAS and UPS, INSA, INP, ISAE, LAAS, Université de Toulouse, Toulouse, France;CNRS, LAAS and UPS, INSA, INP, ISAE, LAAS, Université de Toulouse, Toulouse, France;CNRS, LAAS and UPS, INSA, INP, ISAE, LAAS, Université de Toulouse, Toulouse, France
Venue:
CASE'09 Proceedings of the fifth annual IEEE international conference on Automation science and engineering
Year:
2009

Citing 4
Cited 2

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Robot Motion Planning
Planning Algorithms

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Disassembly Path Planning for Complex Articulated Objects

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Spot-welding sequence planning and optimization using a hybrid rule-based approach and genetic algorithm

Robotics and Computer-Integrated Manufacturing
Survey on assembly sequencing: a combinatorial and geometrical perspective

Journal of Intelligent Manufacturing

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Abstract

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. Based 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.