Fig. 9

The successful plan. The third element in the candidate assembly sequence of the two objects shown in Fig.2 leads to a successful plan. The simulated motion sequence is shown in (1–8). The correspondent regrasp graphs and the paths on the graphs are shown in (1’–8’). (1”–8”) show the correspondent robot execution. The searching process took about 30 s on the Xeon E5-2630 CPU