Disassembly path planning for objects with articulated parts. - LAAS - Laboratoire d'Analyse et d'Architecture des Systèmes Accéder directement au contenu
Communication Dans Un Congrès Année : 2007

Disassembly path planning for objects with articulated parts.

Juan Cortés
Thierry Simeon

Résumé

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 they hinder the progress of the disassembly process. The proposed method is based on such a partition of the configuration parameters. Results show a remarkable performance improvement compared to standard path planning techniques.
Fichier principal
Vignette du fichier
iad07_sub.pdf (875.01 Ko) Télécharger le fichier
Origine : Fichiers produits par l'(les) auteur(s)
Loading...

Dates et versions

hal-01989229 , version 1 (22-01-2019)

Identifiants

  • HAL Id : hal-01989229 , version 1

Citer

Juan Cortés, Thierry Simeon. Disassembly path planning for objects with articulated parts.. IFAC Workshop on Intelligent Assembly and Disassembly, 2007, Alicante, Spain. ⟨hal-01989229⟩
23 Consultations
5 Téléchargements

Partager

Gmail Facebook X LinkedIn More