H. Chang and T. Y. Li. Assembly maintainability study with motion planning. In IEEE Int. Conf. Robot. & Autom., pages 1012-1019, 1995.  Home/Search   Document Details and Download   Summary   Related Articles   Check

.... reasonable performance can be achieved for low degree of freedom problems (low dimensional C space) motion planning algorithms typically run slowly when faced with many degrees of freedom [9] Motion planning has applications in a variety of fields such as assembly planning, virtual prototyping [3], drug design [4] and computer graphics simulations [8, 10] However, despite the applicability of motion planning techniques to computer graphics simulations, the problem has not been addressed much in the computer graphics community [2] As stressed by Latombe [12] non robotics applications ....

Chang, H., Li, T., "Assembly Maintainability Study With Motion Planning", Proceedings of International Conference on Robotics and Automation, 1995.

....tests two objects, described by 500,000 triangles each, in times ranging between 0.0001 and 0.0025 seconds (on an Intel Pentium III 1GHz processor) depending on the actual distance between the two objects. 6 The use of efficient collision checkers in PRM planners has been reported in [BK00, CL95, HLM97, SA01, SLL01] These planners are capable of efficiently and reliably processing planning queries with geometric models containing hundreds of thousands of triangles. 2.5 Moving obstacles When obstacles are moving, the planner must compute a trajectory parametrized by time, instead of ....

H. Chang and T.-Y. Li. Assembly maintainability study with motion planning. In Proc. IEEE Int. Conf. on Robotics and Automation, pages 1012--1019, 1995.

....between node pairs. These methods have been shown to be probabilistically complete, i.e. they find a solution in bounded time with high probability if such a solution exists. Even though probabilistic motion planning algorithms have been successfully applied to several large problem instances [7, 10], they still are not able to solve many important applications within acceptable time constraints. Like most of the research in motion planning, this paper addresses the basic planning problem, searching for a path between initial and final configurations in a known, static workspace while ....

.... between initial and final configurations in a known, static workspace while avoiding collision with obstacles [17, 13] This problem directly arises in a number of real applications, such as robot path planning in industrial workcells and design for maintainability of complex mechanical systems [7, 10]. Moreover, effectively solving the basic motion planning problem is a key issue also faced in solving more general problems (dynamic or unknown environments) The approach presented in this paper is situated in intermediate grounds between the two main probabilistic approaches previously ....

H. Chang and T. J. Li. Assembly maintainability study with motion planning. In IEEE International Conference on Robotics and Automation, pages 1012-- 1019, Nagoya, Japan, May 1995.

....by giving edges on desired (undesired) paths lower (higher) weights, and then using a shortest path computation to find the path between the start and goal connection points. Other methods for favoring certain paths have been proposed that could potentially be integrated into the roadmap (e.g. [9]) The pseudo code for query processing and path generation is shown in Figure 10. In our experiments the roadmap generated during preprocessing usually contained only one main connected component. For each connected component, we tried MAX TRY candidate nodes based on a Euclidean distance ....

H. Chang and T. Y. Li, "Assembly maintainability study with motion planning" in Proc. IEEE Internat. Conf. Robot. Autom., Nagoya, Japan, May 21--27, 1995, pp.1012--1019.

....as the Random Path Planner (RPP) algorithm by Barraquand and Latombe [4] which has pioneered the approach, deal with local minima with brownian motion phases. While the e#ectiveness of potential field planners has been shown by their early application on highly relevant industrial case studies [10, 12, 21, 22], their performance is still inadequate to provide solution of many useful problems within acceptable times. Associated shortcomings include excessive variability in solution times, di#culty in dealing with deep local minima of the potential field, and need to compute the heuristic for each ....

H. Chang and T.-J. Li. Assembly maintainability study with motion planning. In IEEE International Conference on Robotics and Automation, pages 1012--1019, Nagoya, Japan, 1995.

....high probability if such a solution exists. Moreover, probabilistic motion planning algorithms have successfully dealt with large problem instances in such diverse domains as robot path planning in industrial workcells, design for maintainability of complex mechanical systems, and digital actors [15, 9, 16, 18]. There are two major approaches toward probabilistic path planning [2] potential eld methods, pioneered by the Random Path Planner (RPP) algorithm [4, 5] and roadmap methods, initiated by the Probabilistic RoadMap (PRM) algorithm [19, 13, 14] Potential eld methods drive the search for a ....

H. Chang and T.-J. Li. Assembly maintainability study with motion planning. In IEEE International Conference on Robotics and Automation, pages 1012-1019, Nagoya, Japan, 1995.

....us to study how well a probabilistic roadmap covers F, expansiveness and path clearance allow us to compare the connectedness of the roadmap to that of F. Computer Science Department, Stanford University, Stanford, CA 94305, USA. ICompurer Science Department, Rice University, Houston, TX 77005, USA. 1.1 INTRODUCTION The path planning problem can be formulated as follows: Given: A geometric and kinematic model of a rigid or articulated object, called the robot, A geometric model of the obstacles in the physical space where the robot operates, Find a path, i.e. a ....

....us to study how well a probabilistic roadmap covers F, expansiveness and path clearance allow us to compare the connectedness of the roadmap to that of F. Computer Science Department, Stanford University, Stanford, CA 94305, USA. ICompurer Science Department, Rice University, Houston, TX 77005, USA. 1.1 INTRODUCTION The path planning problem can be formulated as follows: Given: A geometric and kinematic model of a rigid or articulated object, called the robot, A geometric model of the obstacles in the physical space where the robot operates, Find a path, i.e. a continuous ....

[Article contains additional citation context not shown here]

H, Chang and T.Y. Li. Assembly Maintainability Study with Motion Planning, Proc. IEEE Int. Conf. on Robotics and Automation, Nagoya. pp. 1012-1019, 1995.

....in [LL96] RPP has solved many difficult problems involving robots with 3 to 31 dof. It has also been used in practice with good results to plan motions for performing riveting operations on plane fuselages [GMKL92] and to plan disassembly operations for the maintenance of aircraft engines [CL95] Additionally, RPP has been embedded in a larger manipulation planner to automatically animate scenes involving human figures modeled with 62 dof [KKKL94] However, several examples have also been identified where RPP behaves poorly [CG93] In these examples, RPP falls into local minima whose ....

Chang H. and Li T. (1995) Assembly maintainability study with motion planning. In Proc. IEEE Int. Conf. on Rob. and Autom., pages 1012--1019.

.... is high and several versions of it have been shown PSPACE hard [20] Interesting applications and extensions of the problem exist in planning for robots that can modify their environments [11, 23] and flexible robots [3] planning for graphics and simulation [18] planning for virtual prototyping [7], and planning for medical [25] and pharmaceutical [8] applications. This paper concentrates on the analysis of PRM [17, 14] Since 1994, when PRM was invented, several researchers have reported on the excellent performance of the planner for robots with many degrees of freedom, several ....

H. Chang and T. Y. Li. Assembly maintainability study with motion planning. In Proc. IEEE Int. Conf. on Rob. and Autom., pages 1012--1019, 1995.

.... is high and several versions of it have been shown PSPACE hard [16] Interesting applications and ex tensions of the problem exist in planning for robots that can modify their environments [9, 18] and flexible robots [3] planning for graphics and simulation [15] planning for virtual prototyping [6], and planning for medical [20] and pharmaceutical [7] applications. This paper concentrates on the analysis of PRM [14, 11] Since 1994, when PRM was invented, several researchers have reported on the excellent performance of the planner for robots with many degrees of freedom, several ....

H. Chang and T. Y. Li. Assembly maintainability study with motion planning. In Proc. IEEE Int. Conf. on Rob. and Autom., pages 1012-1019, 1995.

....tion of a second after 50 seconds of preprocessing time on a DEC ALPHA workstation. For similar query times, 620 seconds are spent in the preprocessing stage for the robot of Fig. l(b) which has 16 dof. Recently PRIq has been applied to examples from assembly maintainability similar to the ones in [4] (aircraft engines) As described in [7, 8, 9] PRIq requires the tuning of several parameters which depend on the considered workspace and robot. For example, one such parameter is N, the size of the network that sufficiently captures the connectivity of the free C space within a given ....

H. Chang, T.-Y. Li, "Assembly maintainability study with motion planning", Proc. IEEE ICRA, 1012-1019, Nagoya, Japan, 1995.

....We only consider their effect on the manipulated object. Hence, our work is similar in spirit to the work done in assembly sequencing and assembly maintainability studies where removal paths for assembly parts are computed without taking into account the tools required to perform the removal [17, 63]. In assembly planning, as in our case, reasoning about the required tools complicates the problem to a degree that is very Figure 2: Snapshots along a path computed by our planner for positioning a metallic belt in a pipe assembly of a car. The actuators, not shown in the figure, grasp the two ....

....belt. At its final configuration the belt is around the main cylinder. hard to address [64] However, in both problem domains the information that is acquired without planning for the actuators is very useful as it can be used for feasibility studies and for testing the quality of product designs [17, 24]. As our understanding of the problem advances, it may be possible to consider the motion of the actuators. This topic is beyond the scope of the present paper. The general problem of planning for deformable objects is a very important and extremely challenging problem. According to our current ....

[Article contains additional citation context not shown here]

H. Chang and T. Y. Li. Assembly maintainability study with motion planning. In Proc. IEEE Int. Cony. on Rob. and Autom., pages 1012-1019, 1995.

....important applications motivate our research: in industrial settings there is a need to manipulate sheets of metal, pipes that can bend, and cables. In assembly maintainability studies done with virtual prototyping, planning is used to evaluate the design when only the CAD models are available [2]. As many assemblies are designed to be compact and include deformable parts, our studies can be used for design verification. In medical and surgical procedures, flexible catheters are inserted in human vessels [16] Accurate planning studies may help in choosing the size and properties of the ....

H. Chang and T. Li. Assembly maintainability study with motion planning. In Proc. IEEE Int. Conf. on Rob. and Autom. , pages 1012--1019, 1995.

....objects during path planning. Several important applications motivate our research: in industrial settings flexible objects (e.g. cables) are ignored during planning, although it is well known that they restrict the feasibility of many paths. In assembly maintainability studies, previous work [5] has focused on planning removal paths for rigid parts, although it is well known that designers take into account the flexibility of parts to produce compact assemblies [15] Last but not least, our work may have applications in other domains such as computer gener ated animation, surgery (i.e. ....

H. Chang and T. Li. Assembly maintainability study with motion planning. In Proc. IEEE Int. Conf. on Rob. and Aurora., pages 1012-1019, 1995.

....time on a DEC Alpha workstation rated at 126.0 SPECfp92 and 74.3 SPECint92. For similar query times, 620 seconds are spent in the preprocessing stage for the robot of Figure l(b) which has 16 dof. Recently PRI I is being applied to examples from assembly maintainability similar to the ones in [6] (aircraft engines) As described in [12, 13, 14] PRI I requires the tuning of several parameters which depend on the considered workspace and robot. For example, one such parameter is N, the size of the network that sufficiently captures the connectivity of the free C space within a given ....

H. Chang, and Tsai-Yen Li, "Assembly maintainability study with motion planning", Proc. of IEEE ICRA, 1012-1019, Nagoya, Japan, 1995.

....into a hole while holding the other end is solved. Today several applications require the treatment of flexible parts. Take as an example virtual prototyping applications where path planners are now used to compute removal paths of parts from assemblies given only the CAD model for the assemblies [4]. The existence of such paths ensures that the part can be repaired (or replaced if needed) in the final assembled product. Cur rent work treats the part as a rigid object. However, designers often use flexible parts to produce compact assemblies. For example, in the automotive industry, several ....

....and g of the same connected component of R. If successful, the component is searched for a sequence of edges connecting d and g. 4 Experimental Results We run f PRM on the example displayed on Figure 3 on an SGI R10000. Our code is written in C . Our first environment comes from a car assembly [4]. We treat the description of preprocessing in Section 3.1 as a basic step that is repeated a number of times. The parameters for the basic step of f PRM are N = 200, Figure 3: Positioning a metallic belt in a pipe assembly of a car. Figure 4: Motion of an elastic plate in a tight envi ....

H. Chaig aid T. Li. Assembly maintainability study with motion plmning. In Proc. IEEE Int. Conf. on Rob. and Aurora., pages 1012-1019, 1995.

....Our work on planning for flexible objects has applications in industrial settings, virtual reality environments, and medicine. 1 Introduction Robot path planning is important in a wide array of applications from industrial automation to computer aided animation and computational pharmacology [6, 9, 11, 20]. The problem considered in this paper is an extension of the traditional path planning problem of [23] given a flexible object robot with known physical characteristics (e.g. an elastic object) and a set of ways that the object can be manipulated (called manipulation constraints or limit ....

.... in industrial settings there is a need to manipulate sheets of metal [26] pipes that can bend [30] and cables [25] In assembly maintainability studies done with virtual prototyping, planning is used to compute a removal path for a part from an assembly, given only the CAD model of the assembly [6]. The flexibility of the part needs to be considered as engineers use deformable parts to produce compact assemblies [5] In medical and surgical procedures, flexible catheters are inserted into human vessels [4, 31] Accurate planning studies may help in choosing the size and properties of the ....

H. Chang and T. Li. Assembly maintainability study with motion planning. In Proc. IEEE Int. Conf. on Rob. and Autom., pages 1012--1019, 1995.

....using the medial axis, and demonstrate its effectiveness in a planner for rigid objects in a three dimensional workspace. 1 Introduction Robot motion planning is an important tool in a wide variety of settings ranging from computational pharmacology to computer aided industrial design [7, 9, 11, 19]. We present a framework which can be applied to a range of variations on the general path planning problem stated in [21] The problem is to find a path for a robot from an initial configuration to a final configuration without colliding with the environment. In the most common case, the robot is ....

H. Chang and T. Li. Assembly maintainability study with motion planning. In Proc. IEEE Int. Conf. on Rob. and Autom., pages 1012--1019, 1995.

....models An important design criteria for complex mechanical systems is that certain parts are easy to service and or replace. Motion planning algorithms for testing such conditions automatically during the design process would be a great aid to engineers, and have been the subject of previous work [8]. Alpha Puzzle. We considered an alpha puzzle environment containing two tubes twisted into an ff shape (1008 triangles per tube) One tube is the obstacle and the other the moving object (see Figure 8) The objective is to separate the intertwined tubes. The puzzle can be made easier by scaling ....

H. Chang and T. Y. Li. Assembly maintainability study with motion planning. In Proc. IEEE Int. Conf. Robot. Autom. (ICRA), pages 1012--1019, 1995.

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H.S. Chang and T.Y. Li, "Assembly Maintainability Study with Motion Planning," Proc. of 1995.

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H. Chang and T. Y. Li. Assembly maintainability study with motion planning. In IEEE Int. Conf. Robot. & Autom., pages 1012-1019, 1995.

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H. Chang and T.-Y. Li, "Assembly maintainability study with motion planning," in Proceedings of the 1995.

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Chang, H., T.-Y. Li. Assembly Maintainability Study with Motion Planning. In Proc. IEEE Int. Conf. on Robotics & Automation, pp.1012-1019, 1995.

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H. Chang and T. Y. Li. Assembly maintainability study with motion planning. In IEEE Int. Conf. Robot. & Autom., pages 1012--1019, 1995.

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H. Chang and T. Li. Assembly maintainability study with motion planning. In Proceedings of International Conference on Robotics and Automation, 1995.

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