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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.