A prototype, integrated, CAD-based robotic assembly system

Fallside, F.; Jahanbin, M.R.; Marsland, T.P.; Tabandeh, Amir S.; Wright, Mark

doi:10.1109/robot.1989.99994

Cited by 6 publications

(1 citation statement)

References 8 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Fallside describes the beginnings of a system (Fallside et al 1989). The goal of this project is a complete autonomous assembly system, but currently it only does automatic kitting of randomly supplied parts; full planning has yet to be implemented.…”

Section: Related Workmentioning

confidence: 99%

Autonomous Robotic Disassembly in the Blocks World

Schmult

1992

The International Journal of Robotics Research

View full text Add to dashboard Cite

This article describes a fully functional autonomous system with two cooperating robots that disassembles complex Duplo 1 structures in a restricted environment. The system operates on a table-top world with any number of Duplo structures for which object models have been given. The structures are disassembled down to individual parts, using basic operations of single part removal, object partitioning, and the addition of stabilizing supports to structures that would otherwise fall over. All aspects are automatically planned, including operation selection, path and grasp planning, and simultaneous cooperative robot motion. Operations are chosen so as to not create unstable structures and to not risk breakage in areas of low structural integrity. Overall planning is done with a process mechanism that heuristically generates efficient disassembly sequences, without searching a space of all possible operations. Several examples of actual system operation, using real robots, are presented.

show abstract

Section: Related Workmentioning

confidence: 99%