Assembly Sequence Planning for Motion Planning

TL;DR

This paper presents a planner that determines the optimal sequence and methods for assembling objects, considering stability, graspability, and assemblability, to guide robotic assembly tasks effectively.

Contribution

It introduces an automated planner that optimizes assembly sequences by evaluating permutations based on multiple qualities, aiding robotic assembly with initial and goal configurations.

Findings

Successfully finds optimal assembly sequences considering multiple factors.

Demonstrated effectiveness through simulations and real-world experiments.

Abstract

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 automatically permuting, evaluating, and searching the possible assembly sequences considering stability, graspability, and assemblability qualities. It is expected to guide robots to do assembly using translational motion. The output provides initial and goal configurations to motion planning algorithms. It is ready to be used by robots and is demonstrated using several simulations and real-world executions.