Abstract-Sampling-based path planning algorithms are powerful tools for computing constrained disassembly motions. This paper presents a variant of the Rapidly-exploring Random Tree (RRT) algorithm particularly devised for the disassembly of objects with articulated parts. Configuration parameters generally play two different roles in this type of problems: some of them are essential for the disassembly task, while others only need to move if they hinder the progress of the disassembly process. The proposed method is based on such a partition of the configuration parameters. Results show a remarkable performance improvement as compared to standard path planning techniques. The paper also shows practical applications of the presented algorithm in robotics and structural bioinformatics. Index Terms-Articulated mechanisms, disassembly paths, molecular interactions, path planning algorithms, robotic manipulation. This paper 1 addresses the problem of automatically computing motions to disassemble objects. The problem can be formulated as a general path planning problem [2], [3] (see Section III). Indeed, path planning concepts and algorithms have been applied to solve different instances of the (dis)assembly planning problem (see Section II). The instance treated in this paper considers two objects, with 1552-3098/$25.00
REF perform path planning for disassembly of complex objects.
Disassembly Path Planning for Complex Articulated Objects
IEEE Transactions on Robotics
IEEE Transactions on Robotics
Computer Science