Class 13 (Wednesday, February 23) :
ASSEMBLY PLANNING
- Topics:
- Disassembly planning
- Disassembly cone
- Generate-and-test
- Motion space and nondirectional blocking graph
- Interference diagram
- Other constraints and mechanical tools
- Required Readings:
- Overview of motion-space approach:
D. Halperin, J.C. Latombe, and R.H. Wilson.
A General Framework for Assembly Planning: The Motion Space Approach.
Algorithmica, to appear
(ps file).
- Dealing with tools:
R.H. Wilson. A Framework for Geometric Reasoning About Tools in Assembly.
Proceedings of the IEEE International Conference on Robotics
and Automation, pages 1837-44, 1996
(ps file).
- Other Readings:
- Research at Sandia Labs and elsewhere:
Some of the best work in assembly planning has been done at
Sandia Labs. More papers can be found here. This site also
contains a directory of research projects in assembly planning.
- Implemented systems:
S.G. Kaufman, R.H. Wilson, R.E. Jones, T.L. Calton, and A.L. Ames.
The Archimedes 2 Mechanical Assembly Planning System.
Proceedings of the IEEE International Conference on Robotics
and Automation, pages 3361-3368, 1996
(ps file).
B. Romney.
Atlas: An Automatic Assembly Sequencing and Fixturing System.
Proceedings of the International Conference on the Theory and
Practice of Geometric Modelling, W. Strasser, R. Klein, and R. Rau
(eds.), Springer-Verlag, pages 397-415, 1997.
(ps file).
- Powerpoint slides -- Intro
- Powerpoint slides --
Overview paper
- Powerpoint slides --
Dealing with tools paper