Automatic path planning for 3-D assembly system using configuration space and CAD model

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

2 Citations (Scopus)

Abstract

This paper proposes a new method for the motion planning for the assembly of components, using configuration space information, mobility potential and the components' CAD models. The proposed method plans a path and automatically sets the velocity and the acceleration for the assembly task. Automatic selection of velocity and acceleration, for the intermediate via points of the assembly path, generates a smooth trajectory and hence the system becomes continuous and faster. It also automatically adjusts the velocity for the assembly such that, the velocity is reduced as the assembly progresses. The path is planned in the reverse direction, i.e. from the assembled state to the disassembled state, using the potential variation method. The paper details the approach to determine the potential, path planning from assembled to the disassembled state, and automatic selection of the velocity and the acceleration for assembly, to generate a continuous trajectory. The concept is verified for the assembly of a rectangular peg and a rectangular hole.

Original languageEnglish
Title of host publication2015 IEEE International Conference on Mechatronics and Automation, ICMA 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1355-1361
Number of pages7
ISBN (Electronic)9781479970964
DOIs
Publication statusPublished - 2015 Sep 2
Event12th IEEE International Conference on Mechatronics and Automation, ICMA 2015 - Beijing, China
Duration: 2015 Aug 22015 Aug 5

Publication series

Name2015 IEEE International Conference on Mechatronics and Automation, ICMA 2015

Other

Other12th IEEE International Conference on Mechatronics and Automation, ICMA 2015
CountryChina
CityBeijing
Period15/8/215/8/5

ASJC Scopus subject areas

  • Artificial Intelligence
  • Software
  • Control and Systems Engineering
  • Mechanical Engineering

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  • Cite this

    Saksena, A., Nammoto, T., Kinugawa, J., & Kosuge, K. (2015). Automatic path planning for 3-D assembly system using configuration space and CAD model. In 2015 IEEE International Conference on Mechatronics and Automation, ICMA 2015 (pp. 1355-1361). [7237682] (2015 IEEE International Conference on Mechatronics and Automation, ICMA 2015). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICMA.2015.7237682