Stanford CS 326A - Assembly Planning - D467219

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Stanford CS 326A - Assembly Planning

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CS 326 A: Motion PlanningProblemLevels of ProblemsApplicationsAssembly Sequence PlanningAssembly Sequences as an AND/OR GraphPlanning ApproachesSlide 8Slide 9Various CasesComplexity of PartitioningApplication of NDBGCS 326 A: Motion CS 326 A: Motion PlanningPlanninghttp://robotics.stanford.edu/~latombe/cs326/2002Assembly PlanningAssembly PlanningProblemProblemLevels of ProblemsLevels of ProblemsParts are assumed free-flying (1st paper)Assembly sequence planning Tools/fixtures are taken intoaccount (2nd paper + paper by Romney)Entire manipulation system is taken into account (next class) Manipulation planning (movable objects)ApplicationsApplicationsAnswer questions such as:oHow many parts need to be removed to extract a given part P?oCan the product be assembled by adding a single part at a time?oHow much can the assembly processed by parallelized?Design for manufacturing and servicingDesign of manufacturing systemsAssembly Sequence Assembly Sequence PlanningPlanningExample of a multi-robot coordination problem, but …1. Very constrained goal state and unconstrained initial state Disassembly planning 2. Large number of dofs, but simple paths Motion spaceAssembly Sequences as Assembly Sequences as an AND/OR Graphan AND/OR GraphPlanning ApproachesPlanning ApproachesGenerate-and-testContact analysisPlanning ApproachesPlanning ApproachesGenerate-and-testContact analysisPlanning ApproachesPlanning ApproachesGenerate-and-testGenerate-and-test plus cachingNon-directional blocking graph(limited to single-step motions)Interference diagramVarious CasesVarious CasesMulti-hand:An assembly on n parts may require up to n hands for its(dis-)assemblyNon-monotonic 2-handed assembly:No single part can beadded or remove:Complexity of PartitioningAssembly partitioning problem:Given a collection of non-overlapping polygons, decide if there is a proper subcollection of them that can be removed as a rigid body without colliding with the other polygons.This problem is NP-completeApplication of NDBGApplication of NDBG22-part Hughes AIM-9X -part Hughes AIM-9X air-to-air missile air-to-air missile (SANDIA National Labs) (SANDIA National

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