Title: Motion planning for PLM: state of the art and perspectives

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.

DOI: 10.1504/IJPLM.2006.008673

International Journal of Product Lifecycle Management, 2006 Vol.1 No.2, pp.129 - 142

Published online: 16 Jan 2006 *

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