.png){kind=icon}
返回
Disassembly path planning for complex articulated objects
.png){kind=icon}
OA
AI
DOI：10.1109/TRO.2008.915464.png)
.png){kind=icon}
.png){kind=icon}
分享.png){kind=icon}
收藏
摘要
En 中文
Sampling-based path planning algorithms are powerful tools for computing constrained disassembly motions. This paper presents a variant of the Rapidly-exploring Random Tree (RRT) algorithm particularly devised for the disassembly of objects with articulated parts. Configuration parameters generally play two different roles in this type of problems: some of them are essential for the disassembly task, while others only need to move if they hinder the progress of the disassembly process. The proposed method is based on such a partition of the configuration parameters. Results show a remarkable performance improvement as compared to standard path planning techniques. The paper also shows practical applications of the presented algorithm in robotics and structural bioinformatics.
Keyword:
articulated mechanisms
disassembly paths
molecular interactions
path planning algorithms
robotic manipulation
AI总结
对已上传原文的论文进行重点信息的提取，主要内容包括：简要概述、研究摘要、背景介绍、关键亮点、图文解析、展望与总结。
期刊
IF:
10.5
论文数:
3.3K
被引数:
2.8W
机构
引用论文
A morphometric study of the pelvi-ureteric junction and review of the pathogenesis of upper ureteric obstruction.png)
Pathology
PathologyIF0
PREAI
分享收藏
查看更多内容