A General and Flexible Search Framework for Disassembly Planning

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

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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.

Original languageEnglish (US)
Title of host publication2018 IEEE International Conference on Robotics and Automation, ICRA 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages3548-3555
Number of pages8
ISBN (Electronic)9781538630815
DOIs
StatePublished - Sep 10 2018
Externally publishedYes
Event2018 IEEE International Conference on Robotics and Automation, ICRA 2018 - Brisbane, Australia
Duration: May 21 2018May 25 2018

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Conference

Conference2018 IEEE International Conference on Robotics and Automation, ICRA 2018
CountryAustralia
CityBrisbane
Period5/21/185/25/18

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

Fingerprint Dive into the research topics of 'A General and Flexible Search Framework for Disassembly Planning'. Together they form a unique fingerprint.

  • Cite this

    Ebinger, T., Kaden, S., Thomas, S., Andre, R., Amato, N. M., & Thomas, U. (2018). A General and Flexible Search Framework for Disassembly Planning. In 2018 IEEE International Conference on Robotics and Automation, ICRA 2018 (pp. 3548-3555). [8460483] (Proceedings - IEEE International Conference on Robotics and Automation). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2018.8460483