Multi-robot grasp planning for sequential assembly operations

AUTONOMOUS ROBOTS, pp. 649.0-664.0, 2019.

Cited by: 52|Views30


This paper addresses the problem of finding robot configurations to grasp assembly parts during a sequence of collaborative assembly operations. We formulate the search for such configurations as a constraint satisfaction problem (CSP). Collision constraints in an operation and transfer constraints between operations determine the sets of...More



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