RALPH static planner: CAD‐based manipulator assembly task planning for CSG‐modeled objects | Zendy

Nnaji Bartholomew O. | Zendy; Chu JauYen | Zendy

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RALPH static planner: CAD‐based manipulator assembly task planning for CSG‐modeled objects

Author(s) -

Nnaji Bartholomew O.,

Chu JauYen

Publication year - 1990

Publication title -

international journal of intelligent systems

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 1.291

H-Index - 87

eISSN - 1098-111X

pISSN - 0884-8173

DOI - 10.1002/int.4550050203

Subject(s) - planner , task (project management) , grasp , computer science , cad , motion planning , plan (archaeology) , object (grammar) , manipulator (device) , process (computing) , path (computing) , engineering drawing , robot , artificial intelligence , engineering , software engineering , systems engineering , programming language , archaeology , history

This article describes a manipulator assembly task planner that processes the knowledge of the working environment and generates a sequence of general, manipulator independent commands. the planner takes a very high level command, such as “insert PEG into HOLE” without further specifications, reasons about the involved object features using the information from the CAD system, and generates a process plan for the manipulator to automatically perform the task. In this planner, the grasp planning and the path planning are developed and implemented for a static world.

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