Assembly Sequence Planning for Motion Planning

Integrated assembly and motion planning using regrasp graphs

This paper presents an integrated assembly and motion planning system to recursively find the assembly sequence and motions to assemble two objects with the help of a horizontal surface as the supporting fixture. The system is implemented in both assembly level and motion level. In the assembly level, the system checks all combinations of the assembly sequences and gets a set of candidates. The...

Assembly features in modeling and planning

In recent years, features have been introduced in modeling and planning for manufacturing of parts. Such features combine geometric and functional information. Here it is shown that the feature concept is also useful in assembly modeling and planning. For modeling and planning of both single parts and assemblies, an integrated object-oriented product model is introduced. For speci"c assembly-re...

Micro Planning for Mechanical Assembly Operations

Signi cant advances have been made in the area of macro planning for assembly operations (i.e., dividing a product into sub-assemblies, determining the sequence of assembly operations). On the contrary, the state of the art in micro planning (i.e., tool selection, path planning for tool and part movements) is rather primitive. To generate a realizable assembly plan, both macro planning and micr...

Towards Integrating Hierarchical Goal Networks and Motion Planners to Support Planning for Human Robot Collaboration in Assembly Cells

Low-level motion planning techniques must be combined with high-level task planning formalisms to generate realistic plans that can be carried out by humans and robots. A representative example is planning for fenceless assembly cells where robots can collaborate seamlessly with humans to perform assembly tasks. Key constituent components include assembly sequence generation (Morato, Kaipa, and...

w THE WINDOW CORNER ALGORITHM FOR POLYHEDRAL ROBOT AND ASSEMBLY SEQUENCE PATH PLANNING