A General and Flexible Search Framework for Disassembly Planning Conference Paper

abstract

• 2018 IEEE. We present a new general framework for disassembly sequence planning. This framework is versatile allowing different types of search schemes (exhaustive vs. preemptive), various part separation techniques, and the ability to group parts, or not, into subassemblies to improve the solution efficiency and parallelism. This enables a truly hierarchical approach to disassembly sequence planning. We demonstrate two different search strategies using this framework that can either yield a single solution quickly or provide a spectrum of solutions from which an optimal may be selected. We also develop a method for subassembly identification based on collision information. Our results show improved performance over an iterative motion planning based method for finding a single solution and greater functionality through hierarchical planning and optimal solution search.

name of conference

• 2018 IEEE International Conference on Robotics and Automation (ICRA)

authors

• Amato, Nancy
• Thomas, Shawna

published proceedings

• 2018 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)

author list (cited authors)

• Ebinger, T., Kaden, S., Thomas, S., Andre, R., Amato, N. M., & Thomas, U.

citation count

• 7

complete list of authors

• Ebinger, Timothy||Kaden, Sascha||Thomas, Shawna||Andre, Robert||Amato, Nancy M||Thomas, Ulrike

publication date

• January 2018

publisher

• Institute of Electrical and Electronics Engineers (IEEE)  Publisher

published in

• IEEE International Conference on Robotics and Automation  Journal

Digital Object Identifier (DOI)

• 10.1109/icra.2018.8460483

International Standard Book Number (ISBN) 13

• 9781538630815

start page

• 3548

end page

• 3555

volume

• 00