Name
Abstract | ||
|---|---|---|
Physics-based simulation is increasingly important in virtual manufacturing for product assembly and disassembly operations. This work explores potential benefits of physics-based modeling for automatic learning of assembly tasks and for intelligent disassembly planning in desktop virtual reality. The paper shows how realistic physical animation of manipulation tasks can be exploited for learning sequential constraints from user demonstrations. In particular, a method is proposed where information about physical interaction is used to discover task precedences and to reason about task similarities. A second contribution of the paper is the application of physics-based modeling to the problem of disassembly sequence planning. A novel approach is described to find all physically admissible subassemblies in which a set of rigid objects can be disassembled. Moreover, efficient strategies are presented aimed at reducing the computational time required for automatic disassembly planning. The proposed strategies take into account precedence relations arising from user assembly demonstrations as well as geometrical clustering. A motion planning technique has also been developed to generate non-destructive disassembly paths in a query-based approach. Experiments have been performed in an interactive virtual environment including a dataglove and motion tracker that allows realistic object manipulation and grasping. |
Year | DOI | Venue |
|---|---|---|
2011 | 10.1007/s10055-009-0145-y | Virtual Reality |
Keywords | Field | DocType |
assembly task,motion planning technique,intelligent disassembly planning,automatic disassembly planning,disassembly sequence planning,non-destructive disassembly path,interactive virtual environment,desktop virtual reality,virtual realitydisassembly planning � precedence graphsphysics-based animation � programming by demonstration,disassembly operation,physics-based virtual reality,physics-based modeling,virtual reality,motion planning | Motion planning,Programming by demonstration,Virtual reality,Virtual machine,Computer science,Simulation,Computer Aided Design,Human–computer interaction,Animation,Cluster analysis,Precedence graph | Journal |
Volume | Issue | ISSN |
15 | 1 | 1434-9957 |
Citations | PageRank | References |
7 | 0.48 | 28 |
Authors | ||
2 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Jacopo Aleotti | 1 | 259 | 29.76 |
| Stefano Caselli | 2 | 314 | 36.32 |