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Fig. 1 | Robotics and Biomimetics

Fig. 1

From: Integrated assembly and motion planning using regrasp graphs

Fig. 1

The assembly sequences and motions in state-of-the-art robotic assembly system are manually programmed by technicians using teach pads: Human technicians figure out the assembly plan and program the robot to pick up and place down the base, and assemble the second object to the base (a). There are several candidate assembly sequences shown in (b), but the technicians manually select one of them using their experience. This paper proposes a novel system to do this automatically using integrated assembly and manipulation planning. a The snapshots of assembling two objects. In subfigures (1–2), the robot picks up the yellow object and places down it on the table as the base. In subfigures (3–4), the robot picks up the green object and assembles it to the base. b The possible assembly sequences. The left plot shows the goal. The other plots show different ways of selecting the base and different ways of attaching the second object

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