AI Article Synopsis
- The paper introduces a system that combines assembly and motion planning to efficiently assemble two objects on a horizontal surface.
- It works by checking all possible assembly sequences and creating a set of candidates for each sequence, while also developing regrasp graphs for pick-and-place motions.
- The effectiveness of this integrated approach is validated through both simulations and real-world experiments.
Article Abstract
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. Then, for each candidate assembly sequence, the system incrementally builds regrasp graphs and performs recursive search to find a pick-and-place motion in the motion level to manipulate the base object as well as to assemble the other object to the base. The system integrates the candidate assembly sequences computed in the assembly level incrementally and recursively with graph searching and motion planning in the motion level and plans the assembly sequences and motions integratedly for assembly tasks. Both simulation and real-world experiments are performed to demonstrate the efficacy of the integrated planning system.
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Source |
|---|---|
| http://www.ncbi.nlm.nih.gov/pmc/articles/PMC5101345 | PMC |
| http://dx.doi.org/10.1186/s40638-016-0050-2 | DOI Listing |
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