Optimized Motion Planning Considering the Lifetime for Bimanual Robotic Assembly

Compliant-Motion Planning and Execution for Robotic Assembly

This paper presents a method for the planning and execution of compliant motions within the scope of a two-phase fine-motion planner for the performance of planar assembly tasks with robots. Algorithms are provided to find a nominal solution path in both free and contact configuration space which is feasible in spite of the uncertainties affecting the task. Compliant-motion commands based on th...

Robotic Motion Planning

This paper demonstrates an application of algebraic geometry to the real problem of robotic motion planning. We model an abstract robot arm using a system of polynomial equations specifying constraints imposed by the arm’s various linkages, and demonstrate techniques for solving them in common situations.

Wheelchair Robotic Motion Planning

Assembly Sequence Planning for Motion Planning

This paper develops a planner to find an optimal assembly sequence to assemble several objects. The input to the planner is the mesh models of the objects, the relative poses between the objects in the assembly, and the final pose of the assembly. The output is an optimal assembly sequence, namely (1) in which order should one assemble the objects, (2) from which directions should the objects b...

Robotic Assembly and Task Planning

If classical planners are ever to automatically plan the actions of the smart machines, particularly robots for the automatic assembly of industrial objects, then they will have to know much more about geometry and topology as well as sensing. Consider that the simple act of changing an object’s grasp-the change might be necessitated by the nature of some assembly goal-involves the interaction ...