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D-Plan: Efficient Collision-Free
Path Computation For Part Removal and Disassembly Liangjun Zhang, Xin Huang,
Young J. Kim and Dinesh Manocha We present a novel
approach to compute a collision-free path for part disassembly simulation and
virtual prototyping of part removal. Our algorithm is based on sample-based
motion planning that connects collision-free samples in the configuration
space using local planning. In order to effectively handle the tight-fitting
scenarios, we describe techniques to generate samples in narrow passages and
efficient local planning algorithms to connect them with collision-free
paths. Our approach is general, makes no assumption about
model connectivity or object topology, and can handle polygon soup
models that frequently arise in CAD applications. We highlight the
performance on many challenging benchmarks including the Alpha puzzle, maintainability
of the windscreen wiper motion, and disassembly of a seat from the interior
of a car body. Paper (PDF) @INPROCEEDINGS{Zhang08-CADconf, AUTHOR =
{L. Zhang and X. Huang and Y.J. Kim and D. Manocha}, TITLE =
{D-Plan: Efficient Collision-Free Path Computation For Part Removal and Disassembly}, BOOKTITLE =
{Journal of Computer-Aided Design and Applications}, YEAR = {2008}, } Results
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