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Flexible Assembly Through Integrated Assembly Sequence Planning and Grasp Planning

Thomas, Ulrike and Stouraitis, Theodoros and Roa, Maximo A. (2015) Flexible Assembly Through Integrated Assembly Sequence Planning and Grasp Planning. In: IEEE International Conference on Automation Science and Engineering - CASE 2015, pp. 586-592. IEEE. IEEE International Conference on Automation Science and Engineering - CASE, 24-28 August 2015, Gothermburg, Sweden. DOI: 10.1109/CoASE.2015.7294142

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Official URL: http://ieeexplore.ieee.org/xpl/articleDetails.jsp?reload=true&arnumber=7294142

Abstract

This paper describes an assembly sequence planner able to generate feasible sequences for building a desired assembly. The assembly planner takes geometrical, physical and mechanical constraints into account. Moreover, the planner considers the feasibility of grasps during the planning process and takes into account work-cell specific constraints. The approach uses AND/OR-graphs for planning. The generation of such graphs is implemented by using a specialized graph cut algorithm that employs a dynamically changing priority queue. These graphs are further evaluated by considering the feasibility of grasping sub-assemblies and individual parts during the process. The grasp and the sequence planner are generic, hence the proposed solution can be applied to arbitrary assemblies of rigid parts. The system has been evaluated with different configurations obtained by the combination of standard item-profiles.

Item URL in elib:https://elib.dlr.de/101280/
Document Type:Conference or Workshop Item (Speech)
Title:Flexible Assembly Through Integrated Assembly Sequence Planning and Grasp Planning
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Thomas, Ulrikeulrike.thomas (at) dlr.deUNSPECIFIED
Stouraitis, Theodorostheodoros.stouraitis (at) dlr.deUNSPECIFIED
Roa, Maximo A.maximo.roa (at) dlr.deUNSPECIFIED
Date:August 2015
Journal or Publication Title:IEEE International Conference on Automation Science and Engineering - CASE 2015
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
DOI :10.1109/CoASE.2015.7294142
Page Range:pp. 586-592
Publisher:IEEE
Status:Published
Keywords:assembly planning, grasp planning
Event Title:IEEE International Conference on Automation Science and Engineering - CASE
Event Location:Gothermburg, Sweden
Event Type:international Conference
Event Dates:24-28 August 2015
Organizer:IEEE
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben on Orbit Servicing
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Autonomy and Teleoperation
Deposited By: Roa Garzon, Dr. Máximo Alejandro
Deposited On:17 Dec 2015 13:31
Last Modified:17 Dec 2015 13:31

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