TY - GEN
T1 - A General and Flexible Search Framework for Disassembly Planning
AU - Ebinger, Timothy
AU - Kaden, Sascha
AU - Thomas, Shawna
AU - Andre, Robert
AU - Amato, Nancy M.
AU - Thomas, Ulrike
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/9/10
Y1 - 2018/9/10
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85063129185&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85063129185&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2018.8460483
DO - 10.1109/ICRA.2018.8460483
M3 - Conference contribution
AN - SCOPUS:85063129185
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 3548
EP - 3555
BT - 2018 IEEE International Conference on Robotics and Automation, ICRA 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2018 IEEE International Conference on Robotics and Automation, ICRA 2018
Y2 - 21 May 2018 through 25 May 2018
ER -