Assembly Path Planning via Variable Lifting and Physics Simulation

Anonymous

Keywords: path planning, assembly, physic simulation, variable lifting

TL;DR: To efficiently generate assembly motion planning, we propose 1) variable lifting to facilitate feasible initialization, and 2) physic simulation-based path refinement to achieve feasible motion path.

Abstract: Effective assembly path planning plays a crucial role in various applications. However, the planning often encounter challenges due to narrow passages, where parts can easily get stuck or face difficulty in navigating through. From an insight that feasible initialization can play a significant role in path planning, we propose an initialization scheme using variable lifting. In this approach, the positions of the static part are treated as adjustable variables, allowing us to effectively widen narrow passages and facilitating the feasible initialization. Furthermore, physics simulation-based path refinement is proposed to efficiently resolve the problem while maintaining the minimal penetration during the solution process. Several examples are implemented to demonstrate how the proposed framework addresses challenging assembly path planning problems.