Article ID Journal Published Year Pages File Type
722656 IFAC Proceedings Volumes 2007 6 Pages PDF
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.

Related Topics
Physical Sciences and Engineering Engineering Computational Mechanics
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