DocumentCode
414168
Title
An iterative diffusion algorithm for part disassembly
Author
Ferré, Etienne ; Laumond, Jean-Paul
Author_Institution
Kineo CAM, Labege, France
Volume
3
fYear
2004
fDate
26 April-1 May 2004
Firstpage
3149
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on
ISSN
1050-4729
Print_ISBN
0-7803-8232-3
Type
conf
DOI
10.1109/ROBOT.2004.1307547
Filename
1307547
Link To Document