Multilevel assembly planning system

Gordon A. Dakin, Yanxi Liu, Robin J. Popplestone

Research output: Contribution to conferencePaperpeer-review

1 Scopus citations


We present a hierarchical assembly planning system that merges the capabilities of our high-level assembly planner KA3 and our fine-motion planner. Integration of the two planners yields a multilevel assembly planner capable of translating task-level assembly commands, such as Assemble Feature 1 of PartA to Feature 2 of PartB, into sequences of assembly motion tasks, together with the fine-motion commands needed to perform them in the presence of uncertainty. Demonstrated by way of example, the multilevel system enumerates planning alternatives at four levels of detail: from the high-level identification of feasible goal configurations and alternative orderings of assembly motions, to the low-level planning of contact space paths and compliant motions.

Original languageEnglish (US)
Number of pages6
StatePublished - 1994
EventProceedings of the 1994 International Mechanical Engineering Congress and Exposition - Chicago, IL, USA
Duration: Nov 6 1994Nov 11 1994


OtherProceedings of the 1994 International Mechanical Engineering Congress and Exposition
CityChicago, IL, USA

All Science Journal Classification (ASJC) codes

  • Software
  • Mechanical Engineering


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