An iterative diffusion algorithm for part disassembly

被引：36

作者：

Ferré, E ^{[1
]}

Laumond, JP ^{[1
]}

机构：

[1] Kineo CAM, F-31672 Labege, France

来源：

2004 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1- 5, PROCEEDINGS | 2004年

关键词：

D O I：

10.1109/ROBOT.2004.1307547

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The paper presents an efficient collision-free path planner for mechanical part disassembly simulation. The principle of the algorithm consists in computing a first path while allowing some penetration within the obstacles. Then the current paths are iteratively re-shaped by decreasing the allowed penetration threshold. The process is controlled by a dynamic collision checker. The cases of failure of the iterative process are automatically detected and solved.

引用

页码：3149 / 3154

页数：6

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