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Assembly Sequence Planning for Motion Planning
[article]
2016
arXiv
pre-print
This paper develops a planner to find an optimal assembly sequence to assemble several objects. The input to the planner is the mesh models of the objects, the relative poses between the objects in the assembly, and the final pose of the assembly. The output is an optimal assembly sequence, namely (1) in which order should one assemble the objects, (2) from which directions should the objects be dropped, and (3) candidate grasps of each object. The proposed planner finds the optimal solution by
arXiv:1609.03108v1
fatcat:kd2loyrbfjewfer6aoxqlrh4ty