Two-Handed Assembly Sequencing

  title={Two-Handed Assembly Sequencing},
  author={Randall H. Wilson and Lydia E. Kavraki and Tom{\'a}s Lozano-P{\'e}rez and Jean-Claude Latombe},
  journal={I. J. Robotics Res.},
This paper considers the computational complexity of automatically determining assembly sequences for mechanical products. Specifically, we address the partitioning problem: given an assembly of rigid parts, identify a proper subassembly that can be removed as a rigid object without disturbing the rest of the assembly. We examine the complexity of the partitioning problem under varying types of relative motions allowed for the subassemblies. We show that when arbitrary motions are allowed to… CONTINUE READING
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