Authors: Jean-Paul Laumond
Addresses: LAAS-CNRS, 7 Avenue du Colonel Roche, 31077 Toulouse, France
Abstract: This paper presents an overview of algorithmic motion planning techniques together with their current and potential applications to PLM. After introducing the main concepts that appeared in the late |70s in robotics, the paper focuses on probabilistic techniques of the |90s, which constitute a technological breakthrough, with respect to the deterministic approaches developed in the |80s. We then see applications in manufacturing (robot programming), CAD/CAM design (mechanical part assembly), as well as in Process Engineering (maintenance operation in industrial facilities).
Keywords: collision-free path finding; motion planning; assembly planning; combinatorial geometry; collision checking; probabilistic roadmaps; PLM; product lifecycle management; robot programming; mechanical part assembly; maintenance engineering; CADCAM; obstacle avoidance; kinematics.
International Journal of Product Lifecycle Management, 2006 Vol.1 No.2, pp.129 - 142
Published online: 16 Jan 2006 *Full-text access for editors Access for subscribers Purchase this article Comment on this article