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Path planning algorithms for assembly sequence planningPlanning for manipulation in complex environments often requires reasoning about the geometric and mechanical constraints which are posed by the task. In planning assembly operations, the automatic generation of operations sequences depends on the geometric feasibility of paths which permit parts to be joined into subassemblies. Feasible locations and collision-free paths must be present for part motions, robot and grasping motions, and fixtures. This paper describes an approach to reasoning about the feasibility of straight-line paths among three-dimensional polyhedral parts using an algebra of polyhedral cones. A second method recasts the feasibility conditions as constraints in a nonlinear optimization framework. Both algorithms have been implemented and results are presented.
Document ID
19930065359
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Krishnan, S. S.
(NASA Headquarters Washington, DC United States)
Sanderson, Arthur C.
(Rensselaer Polytechnic Inst. Troy, NY, United States)
Date Acquired
August 16, 2013
Publication Date
January 1, 1991
Publication Information
Publication: In: Intelligent robotics; Proceedings of the International Symposium, Bangalore, India, Jan. 2-5, 1991 (A93-49350 21-63)
Publisher: Tata McGraw-Hill Publishing Co., Ltd.
Subject Category
Cybernetics
Accession Number
93A49356
Distribution Limits
Public
Copyright
Other

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