Algorithmic Robotics and Motion Planning Dan Halperin Tel Aviv University Fall 2006/7 Assembly planning.

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Presentation transcript:

Algorithmic Robotics and Motion Planning Dan Halperin Tel Aviv University Fall 2006/7 Assembly planning

Assembly maintainability Chang & Li, ‘95

Algorithmic robotics, automation assembly planning  Movable separability  Assembly planning with two hands  Motion space [Snoeyink-Stolfi 93]

Cannot be talek apart, I: translation

Cannot be talek apart, II: translation+rotation

video clips

Monotonicity

DBG

One-step translation

Contacts

Interference diagram

The DBG of a path

Two step translation

Infinitesimal partition

Puzzle

3-part assembly

SS-6

SS-6, DBG ’ s

SS-30, verified under trans

Engine

Engine, DBG ’ s

Summary table

THE END

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