Multilevel assembly planning system

Gordon A. Dakin, Yanxi Liu, Robin J. Popplestone

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

1 Citation (Scopus)

Abstract

We present a hierarchical assembly planning system that merges the capabilities of our high-level assembly planner KA3 and our fine-motion planner. Integration of the two planners yields a multilevel assembly planner capable of translating task-level assembly commands, such as Assemble Feature 1 of PartA to Feature 2 of PartB, into sequences of assembly motion tasks, together with the fine-motion commands needed to perform them in the presence of uncertainty. Demonstrated by way of example, the multilevel system enumerates planning alternatives at four levels of detail: from the high-level identification of feasible goal configurations and alternative orderings of assembly motions, to the low-level planning of contact space paths and compliant motions.

Original languageEnglish (US)
Title of host publicationDynamic Systems and Control (Vol 1 of 2)
PublisherASME
Pages249-254
Number of pages6
Volume55-1
StatePublished - 1994
EventProceedings of the 1994 International Mechanical Engineering Congress and Exposition - Chicago, IL, USA
Duration: Nov 6 1994Nov 11 1994

Other

OtherProceedings of the 1994 International Mechanical Engineering Congress and Exposition
CityChicago, IL, USA
Period11/6/9411/11/94

Fingerprint

Planning

All Science Journal Classification (ASJC) codes

  • Software
  • Mechanical Engineering

Cite this

Dakin, G. A., Liu, Y., & Popplestone, R. J. (1994). Multilevel assembly planning system. In Dynamic Systems and Control (Vol 1 of 2) (Vol. 55-1, pp. 249-254). ASME.
Dakin, Gordon A. ; Liu, Yanxi ; Popplestone, Robin J. / Multilevel assembly planning system. Dynamic Systems and Control (Vol 1 of 2). Vol. 55-1 ASME, 1994. pp. 249-254
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Dakin, GA, Liu, Y & Popplestone, RJ 1994, Multilevel assembly planning system. in Dynamic Systems and Control (Vol 1 of 2). vol. 55-1, ASME, pp. 249-254, Proceedings of the 1994 International Mechanical Engineering Congress and Exposition, Chicago, IL, USA, 11/6/94.

Multilevel assembly planning system. / Dakin, Gordon A.; Liu, Yanxi; Popplestone, Robin J.

Dynamic Systems and Control (Vol 1 of 2). Vol. 55-1 ASME, 1994. p. 249-254.

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

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Dakin GA, Liu Y, Popplestone RJ. Multilevel assembly planning system. In Dynamic Systems and Control (Vol 1 of 2). Vol. 55-1. ASME. 1994. p. 249-254