Efficient Linear Unboundedness Testing: Algorithm and Applications to                 Translational Assembly Planning

Schwarzer, Fabian; Schweikard, Achim; Joskowicz, Leo

doi:10.1177/02783640022067193

Cited by 7 publications

(3 citation statements)

References 26 publications

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“…The tolerance is similar to the concept of "assemblability" in the work by Sanderson (1999), and the constraint is a mixture of geometric constraints and uncertainty constraints. Schwarzer et al (2010) additionally considered the m-handed assembly, which allowed m objects to be disassembled simultaneously. Wei (2012) applied the automatic assembly sequence generation to shipbuilding by considering the sizes, positions and materials of the objects.…”

Section: Related Workmentioning

confidence: 99%

Assembly sequence planning for motion planning

Wan

Harada

Nagata

2017

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Abstract-This paper develops a planner to find an optimal assembly sequence to assemble several objects. The input to the planner is the mesh models of the objects, the relative poses between the objects in the assembly, and the final pose of the assembly. The output is an optimal assembly sequence, namely (1) in which order should one assemble the objects, (2) from which directions should the objects be dropped, and (3) candidate grasps of each object. The proposed planner finds the optimal solution by automatically permuting, evaluating, and searching the possible assembly sequences considering stability, graspability, and assemblability qualities. It is expected to guide robots to do assembly using translational motion. The output provides initial and goal configurations to motion planning algorithms. It is ready to be used by robots and is demonstrated using several simulations and real-world executions.

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Section: Related Workmentioning

confidence: 99%

Assembly sequence planning for motion planning

Wan

Harada

Nagata

2017

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“…It applies to general polyhedra (i.e., possibly with non-convex faces), relying only on basic contacts (see Section 6). The fact that the contact relations between parts can be expressed in form of linear constraints, as hyperplanes embedded in the assembly configuration space Schweikard and Schwarzer (1998), is used in Schwarzer et al (2000) to determine feasible translational directions for m-handed disassembly operations.…”

Section: Representation: Dgbs and Ndbgsmentioning

confidence: 99%

Survey on assembly sequencing: a combinatorial and geometrical perspective

Jiménez

2011

J Intell Manuf

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A systematic overview on the subject of assembly sequencing is presented. Sequencing lies at the core of assembly planning, and variants include finding a feasible sequence -respecting the precedence constraints between the assembly operations-, or determining an optimal one according to one or several operational criteria. The different ways of representing the space of feasible assembly sequences are described, as well as the search and optimization algorithms that can be used. Geometry plays a fundamental role in devising the precedence constraints between assembly operations, and this is the subject of the second part of the survey, which treats also motion in contact in the context of the actual performance of assembly operations.

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“…We now briefly discuss the extension of our framework to other assembly sequence types and for polyhedral parts. Schwarzer, Schweikard, and Joskowicz (2000) study the problem of m-handed simultaneous translations, in which all the assembly parts are translated simultaneously such that each part has its own translation direction and velocity. The algorithm reduces the problem to finding an unbounded direction in the composite C-space of the parts.…”

Section: Conclusion and Extensionsmentioning

confidence: 99%

Relative Position Computation for Assembly Planning With Planar Toleranced Parts

Ostrovsky-Berman

Joskowicz

2006

The International Journal of Robotics Research

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In this paper we present a new framework for worst-case toleranced assembly planning of planar mechanical systems. Unlike most assembly planners, which produce plans for nominal parts, our framework incorporates the inherent imprecision of the manufacturing process, which introduces uncertainties in the shape and size of the assembly parts. It accounts for the uncertainty of the relative part placements in the assembled state and allows planning for all assembly instances. Our framework is more general than existing approaches in terms of the part model, the tolerance specification model, and the type of motions used in the assembly sequences. We describe efficient algorithms for computing the sensitivity of part positioning to variations in part geometries, and for incorporating these computations into the geometric core of existing assembly planners for nominal parts. We show that the cost of accounting for toleranced parts in planning is a multiplicative factor which is a polynomial of low degree in the number of tolerance parameters. Our implementation and experiments on five assembly models show that tolerancing significantly reduces the volume of the space of valid motions for assembly sequence planning, and that for translational motions this reduction depends linearly on the size of the tolerance intervals. We conclude that geometric computation for assembly planning with tolerance parts is time efficient and practical.

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Efficient Linear Unboundedness Testing: Algorithm and Applications to Translational Assembly Planning

Cited by 7 publications

References 26 publications

Assembly sequence planning for motion planning

Assembly sequence planning for motion planning

Survey on assembly sequencing: a combinatorial and geometrical perspective

Relative Position Computation for Assembly Planning With Planar Toleranced Parts

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