Integrated single-arm assembly and manipulation planning using dynamic regrasp graphs

摘要

This paper presents an integrated single-arm assembly and motion planning algorithm to recursively find how to assemble two objects with the help of a plenary surface as the supporting fixture. The algorithm is done in both assembly level and motion level. In the assembly level, the algorithm checks all combinations of the assembly and gets a set of candidate assembly orders. For each assembly order, it performs motion planning to pick-and-place the base object and assemble the other object to the base. In the motion level, the algorithm integrates the orders computed in the assembly level incrementally and recursively with graph searching and motion planning, and finds a motion sequence to finish assembly tasks. The proposed algorithm can find a feasible solution to assemble two objects with completeness. It is practical and is ready to be integrated with force control to perform real-world assembly tasks.