General framework for assembly planning: The motion space approach

Dan Halperin, Jean Claude Latombe, Randall H. Wilson

Research output: Contribution to conferencePaperpeer-review

Abstract

Assembly planning is the problem of finding a sequence of motions to assemble a product from its parts. A general framework for finding assembly motions based on the concept of motion space is presented. Assembly motions are parameterized such that each point in motion space represents a mating motion that is independent of the moving part set. For each motion, blocking relations that explicitly state which parts collide with other parts are derived; each subassembly that does not collide with the rest of the assembly can easily be derived from the blocking relations. Motion space is partitioned into an arrangement of cells such that the blocking relations are fixed within each cell.

Original languageEnglish
Pages9-18
Number of pages10
StatePublished - 1998
EventProceedings of the 1998 14th Annual Symposium on Computational Geometry - Minneapolis, MN, USA
Duration: 7 Jun 199810 Jun 1998

Conference

ConferenceProceedings of the 1998 14th Annual Symposium on Computational Geometry
CityMinneapolis, MN, USA
Period7/06/9810/06/98

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