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Disassembly path planning for complex articulated objects

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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https://hal.laas.fr/hal-01993265
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  • HAL Id : hal-01993265, version 1

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Juan Cortés, Thierry Simeon. Disassembly path planning for complex articulated objects. IFAC Workshop on Intelligent Assembly and Disassembly, May 2007, Alicante, Spain. ⟨hal-01993265⟩

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