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Disassembly path planning for objects with articulated parts.

Juan Cortés 1 Thierry Simeon 1
1 LAAS-RIS - Équipe Robotique et InteractionS
LAAS - Laboratoire d'analyse et d'architecture des systèmes
Abstract : 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.
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Contributor : Thierry Simeon <>
Submitted on : Tuesday, January 22, 2019 - 12:04:28 PM
Last modification on : Friday, January 10, 2020 - 9:10:16 PM


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  • HAL Id : hal-01989229, version 1


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



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