We present an exact and practical incremental method for general translational assembly planning. In practical cases, an exact and complete representation of the relevant free regions in the high-dimensional assembly configuration space becomes amenable by incrementally computing an arrangement of cells in d-dimensional space. Here we introduce a novel reduction scheme, D-node reduction, that allows for online defragmentation of the computed cell decomposition and thus significant speedup and reduction of storage requirements. Experimental results for both two-and three-dimensional assemblies show the practicality, of the proposed approach and illustrate the impact of the new reduction scheme.
|Title of host publication||Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164)|
|Number of pages||6|
|Publication status||Published - 15.09.2001|
|Event||2001 IEEE International Conference on Robotics and Automation - Seoul, Korea, Republic of|
Duration: 21.05.2001 → 26.05.2001
Conference number: 58499