DISASSEMBLY PATH PLANNING FOR OBJECTS WITH ARTICULATED PARTS

Disassembly Path Planning for Objects with Articulated Parts

Sampling-based path planning algorithms are powerful tools for computing disassembly motions. This paper presents a variant of the RRT algorithm particularly devised for the disassembly of objects with articulated parts. Configuration parameters generally play two different roles in this type of problems: some of them are essential for the disassembly task, while others only need to move if the...

Collision-free Path Planning for Articulated Robots

The purpose of this paper is to develop a method of Collision-Free Path Planning (CFPP) for articulated robots. First, the configuration of a robot is designed using a set of robot joint angles derived from robot inverse kinematics. The joint space, which is made of a joint angle set, forms a Configuration space (Cspace). Obstacles in a robot work-cell are transformed into Cobstacles (obstacles...

Interactive Disassembly Planning for Complex Objects

We present an approach for the automatic generation, interactive exploration and real-time modification of disassembly procedures for complex, multipartite CAD data sets. In order to lift the performance barriers prohibiting interactive disassembly planning, we run a detailed analysis on the input model to identify recurring part constellations and efficiently determine blocked part motions in ...

Randomized preprocessing of configuration space for path planning: articulated robots

A genetic path planning algorithm for redundant articulated robots

SUMMARY In some daily tasks , such as pick and place , the robot is requested to reach with its hand tip a desired target location while it is operating in its environment. Such tasks become more complex in environments cluttered with obstacles , since the constraint for collision-free movement must be also taken into account. This paper presents a new technique based on genetic algorithms (GAs...