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专利名称：DISASSEMBLY BASED ASSEMBLY PLANNING发明人：Yu Zhao,Tetsuaki Kato申请号：US17226179申请日：20210409
公开号：US20210323154A1公开日：20211021
专利附图：
摘要：A robot motion planning technique for component assembly operations. Inputsto the motion planning technique include geometric models of the components beingassembled, and initial and target configurations. The method begins at a tightly-constrained target or final configuration and plans in the direction of a loosely-
constrained initial configuration. A randomly-sampled waypoint configuration is
proposed, followed by a local search for feasible configurations which generates nodesthat extend a path toward the initial configuration while sliding through the tightly-constrained region. The local search can be repeated multiple times for a given
randomly-sampled configuration. When a completed path is found, the action sequence istrimmed to eliminate unnecessary extraneous motions in the loosely-constrained region.The disclosed method dramatically reduces the number of unproductive configurationsevaluated and finds assembly solutions much faster in comparison to known tree-basedmotion planning methods.
申请人：FANUC CORPORATION
地址：Yamanashi JP
国籍：JP
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