Title :
An iterative diffusion algorithm for part disassembly
Author :
Ferré, Etienne ; Laumond, Jean-Paul
Author_Institution :
Kineo CAM, Labege, France
fDate :
26 April-1 May 2004
Abstract :
The paper presents an efficient collision-free path planner for mechanical part disassembly simulation. The principle of the algorithm involves 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.
Keywords :
computerised numerical control; iterative methods; mechanical products; path planning; process control; production engineering computing; robotic assembly; automatic failure detection; collision-free path planner; dynamic collision checker; iterative diffusion algorithm; iterative path reshaping; mechanical part disassembly simulation; product lifecycle management; Automotive components; CADCAM; Computer aided manufacturing; Costs; Design automation; Diffusion processes; Iterative algorithms; Road accidents; Sampling methods; Shape;
Conference_Titel :
Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on
Print_ISBN :
0-7803-8232-3
DOI :
10.1109/ROBOT.2004.1307547
