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A configuration space based approach for robotic assembly sequencing

Published online by Cambridge University Press:  09 March 2009

Praveen Bhatia ,
A.M.S. Zalzala  and
Amitabh Ghosh
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Extract

This paper describes a compact assembly sequencer for automatic robotic assembly using a configuration space-based path planner. Connection graph of the assembly is constrained by the feasibility information made available from the analysis of local disassembly paths tried by the robot's path planner. Free space of the robot performing assembly is explicitly used to generate the disassembly constraints. We show with the help of a ball pen assembly how the sequencing is performed with this representation.

Keywords

Robotic assemblyPath plannerAssembly sequencer.
Type
Research Article
Information
Robotica , Volume 14 , Issue 6 , November 1996 , pp. 633 - 645
Copyright
Copyright © Cambridge University Press 1996

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References

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