Loading...
Please wait, while we are loading the content...
Similar Documents
DISASSEMBLY PATH PLANNING FOR OBJECTS WITH ARTICULATED PARTS
| Content Provider | CiteSeerX |
|---|---|
| Abstract | Abstract: Sampling-based path planning algorithms are powerful tools for com-puting disassembly motions. This paper presents a variant of the RRT algorithm particularly devised for the disassembly of objects with articulated parts. Configu-ration 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. |
| File Format | |
| Access Restriction | Open |
| Subject Keyword | Com-puting Disassembly Motion Articulated Part Disassembly Task Path Planning Technique Sampling-based Path Planning Algorithm Disassembly Process Configuration Parameter Configu-ration Parameter Remarkable Performance Improvement |
| Content Type | Text |
| Resource Type | Article |
