Carnegie Mellon University
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Fine Motion Planner
This project is no longer active.
Head: David Bourne
Contact: S S. Krishnan
Mailing address:
Carnegie Mellon University
Robotics Institute
5000 Forbes Avenue
Pittsburgh, PA 15213
Associated center(s) / consortia:
 Center for Integrated Manfacturing Decision Systems (CIMDS)
Associated lab(s) / group(s):
 Rapid Manufacturing Lab
The fine motion planner computes a sequence of moves such that the partially bent-up part can be successfully unloaded from the bending machine, while satisfying the following conditions:

  1. The part should not collide with any part of the tool during the entire sequence of moves.
  2. The robot should stay within its kinematic limits during the execution of the fine motion plan.
  3. The planner should generate a detailed sequence of robot moves which can be executed by the robot.
  4. The fine motion computation time needs to be really low, since fine motion feasibility is tested whenever any node is expanded during the bend sequence search process.