Abstract:Assembly planning, which is a fundamental problem in robotics and automation, aims to design a sequence of motions that will bring the separate constituent parts of a product into their final placement in the product. It is convenient to study assembly planning in reverse order, where the following key problem, assembly partitioning, arises: Given a set of parts in their final placement in a product, partition them into two sets, each regarded as a rigid body, which we call a subassembly, such that these two s… Show more
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