0

Full Content is available to subscribers

Subscribe/Learn More  >

Interactive and On-Line Learning System for Assembly Task Motion Planning

[+] Author Affiliations
Yu Yan, Emilie Poirson, Fouad Bennis

Ecole Centrale de Nantes-IRCCyN, Nantes, France

Paper No. DETC2013-12113, pp. V004T05A002; 10 pages
doi:10.1115/DETC2013-12113
From:
  • ASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 4: 18th Design for Manufacturing and the Life Cycle Conference; 2013 ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications
  • Portland, Oregon, USA, August 4–7, 2013
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5591-1
  • Copyright © 2013 by ASME

abstract

This paper presents a novel interactive motion planning system for assembly/disassembly operations. Our system consists of three layers: interaction layer, learning layer and motion library layer. In interaction layer, user’s manipulation in difficult scenario is liberated by relaxing collision constraints. The resulting path is retracted and connected by random retraction method and BiRRT algorithm. A motion path which successfully passed through the narrow passage or information of geometrical interference in failed case is returned to user. In learning layer, motion primitives corresponding to prior similar scenario are selected by scenario comparison which is based on medial axis, and then transformed to generate new motions. Significant improvement for motion planning of non-convex object in challenging scenarios with narrow passages is obtained by interactive process. The introduction of learning mechanism can reduce global planning time and obtain experiential knowledge.

Copyright © 2013 by ASME

Figures

Tables

Interactive Graphics

Video

Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

NOTE:
Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In