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Full-Text Articles in Robotics
Generation Of Partial Medial Axis For Disassembly Motion Planning, Yangsheng Xu, Raju S. Mattikalli, Pradeep K. Khosla, Carnegie Mellon University.Engineering Design Research Center.
Generation Of Partial Medial Axis For Disassembly Motion Planning, Yangsheng Xu, Raju S. Mattikalli, Pradeep K. Khosla, Carnegie Mellon University.Engineering Design Research Center.
Pradeep K Khosla
Abstract: "This paper presents an efficient approach for determining disassembly motion plans of a subassembly in the free space within its parent subassembly. We propose a two-step approach to generating motion plans. First, all possible paths within free space of the parent subassembly are generated using a partial medial axis. This is followed by a graph search for an optimal global path. Second, a collision free motion is planned using the global path and the geometry of the moving subassembly. In this paper, we focus on the first problem, i.e.,generation of a partial medial axis for disassembly motion planning. We …
Two-Disk Motion Planning Strategy, Yangsheng Xu, Raju S. Mattikalli, Pradeep K. Khosla, Carnegie Mellon University.Engineering Design Research Center.
Two-Disk Motion Planning Strategy, Yangsheng Xu, Raju S. Mattikalli, Pradeep K. Khosla, Carnegie Mellon University.Engineering Design Research Center.
Pradeep K Khosla
Abstract: "This paper addresses the problem of planning the motion of a polygonal object through a set of planar obstacles. We propose a two-disk motion planning strategy to navigate the object within the free space between the obstacles from an initial location to a final location. This method makes use of the Medial Axis Transform (MAT) of the free space which can be generated efficiently using the method in [10]. We determine two minimal overlapping disks that fully enclose the moving object, and then constrain the centers of the two disks to move continuously along a path on the medial …