Assembly Planning and Task Planning — Two Prerequisites for Automated Robot Programming

Thomas, Ulrike; Wahl, Friedrich M.

doi:10.1007/978-3-642-16785-0_19

Cited by 30 publications

(7 citation statements)

References 25 publications

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“…An example is the housing lid and the two rotors. There are two main approaches to this: defining a primitive boundary representation [4], or using the subshape. In this article we have assumed the chosen geometric primitive to be sufficient for completing the task.…”

Section: Discussionmentioning

confidence: 99%

“…Archimedes 2 [3] describes an architecture where the CAD model and assembly description, sequence planning, and skill execution are separated into modules. One of the most advanced systems is HighLap [4] where the CAD model is annotated with a small set of simple semantic assembly descriptions. The descriptions give constraints similar to Ambler and Popplestone that are used to find remaining degrees-of-freedom.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

A System Architecture for Constraint-Based Robotic Assembly with CAD Information

Arbo

Pane

Aertbeliën

et al. 2018

2018 IEEE 14th International Conference on Automation Science and Engineering (CASE)

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A system architecture is presented to generate sensor-controlled robot tasks from knowledge encoded in a CAD model. This architecture consists of an application layer where the user annotates assembly tasks in the CAD software. A process layer infers the specific robot skills and parameters from the CAD model and annotated data. A control layer executes the complex, force-controlled tasks. A proof-of-concept implementation is made, consisting of an application layer implemented in FreeCAD and a process layer that focuses on using fuzzy inference to generate appropriate skill-dependent process parameters from the geometric CAD information and annotations in the CAD model. In the control layer, a constraintbased control framework is used to robustly execute the assembly tasks. The system is validated on a challenging assembly task involving the assembly of screw compressor parts.

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Section: Discussionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

A System Architecture for Constraint-Based Robotic Assembly with CAD Information

Arbo

Pane

Aertbeliën

et al. 2018

2018 IEEE 14th International Conference on Automation Science and Engineering (CASE)

View full text Add to dashboard Cite

show abstract

“…However, since there is no feedback, the system must assume that the given assembly plan is compatible with geometric restrictions. Manipulation primitive nets are introduced in [32] to deal with uncertainties occurring during assembly task execution.…”

Section: Related Workmentioning

confidence: 99%

Combining Assembly Planning and Geometric Task Planning

Lallement

Cortés

Gharbi

et al. 2019

Springer Tracts in Advanced Robotics

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This chapter deals with the integration of different planners that solve problems from different domains in a common context. In particular, a joint solution for structure assembly planning, symbolic task planning and geometric planning is presented and analyzed in the construction of structures with a team of aerial robots equipped with on-board manipulators in places where the access is difficult. Geometric reasoning is present at different levels in our joint solution in order to reduce the computational complexity derived from the highly dimensional space due to the many degrees of freedom of the robots and the complexity of the tasks and also to produce more robust plans even for strongly intricate problems.

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“…Preliminary motion planning approaches were developed for integrated assembly simulation systems [7,8,46]; the goal was to perform assembly operation planning that includes assembly sequence planning, tool planning, and task planning. Motion planning based on randomized methods have became popular in path planning.…”

Section: Motion Planning Based Approachesmentioning

confidence: 99%

Improving assembly precedence constraint generation by utilizing motion planning and part interaction clusters

Morato

Kaipa

Gupta

2013

Computer-Aided Design

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Assembly Planning and Task Planning — Two Prerequisites for Automated Robot Programming

Cited by 30 publications

References 25 publications

A System Architecture for Constraint-Based Robotic Assembly with CAD Information

A System Architecture for Constraint-Based Robotic Assembly with CAD Information

Combining Assembly Planning and Geometric Task Planning

Improving assembly precedence constraint generation by utilizing motion planning and part interaction clusters

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