Integrated assembly and motion planning using regrasp graphs
نویسندگان
چکیده
منابع مشابه
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...
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in this paper, a new online robot motion planner is developed for systematically exploring unknown environâ¬ments by intelligent mobile robots in real-time applications. the algorithm takes advantage of sensory data to find an obstacle-free start-to-goal path. it does so by online calculation of the generalized voronoi graph (gvg) of the free space, and utilizing a combination of depth-first an...
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When we look at our hands and think about what they can do, grasping is mostly in our imagination. We can easily grasp an object without calculating proper grasping positions according to the model of the object. But this ability of humans cannot be transferred to a machine at ease. In Robotics, grasping is an operation performed by a robot hand for secure holding an object. We know some practi...
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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...
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ژورنال
عنوان ژورنال: Robotics and Biomimetics
سال: 2016
ISSN: 2197-3768
DOI: 10.1186/s40638-016-0050-2