Tool Exchangeable Grasp/Assembly Planner

  • Kensuke HaradaEmail author
  • Kento Nakayama
  • Weiwei Wan
  • Kazuyuki Nagata
  • Natsuki Yamanobe
  • Ixchel G. Ramirez-Alpizar
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 867)


This paper proposes a novel assembly planner for a manipulator which can simultaneously plan assembly sequence, robot motion, grasping configuration, and exchange of grippers. Our assembly planner assumes multiple grippers and can automatically selects a feasible one to assemble a part. For a given AND/OR graph of an assembly task, we consider generating the assembly graph from which assembly motion of a robot can be planned. The edges of the assembly graph are composed of three kinds of paths, i.e., transfer/assembly paths, transit paths and tool exchange paths. In this paper, we first explain the proposed method for planning assembly motion sequence including the function of gripper exchange. Finally, the effectiveness of the proposed method is confirmed through some numerical examples and a physical experiment.


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Kensuke Harada
    • 1
    • 2
    Email author
  • Kento Nakayama
    • 1
  • Weiwei Wan
    • 1
    • 2
  • Kazuyuki Nagata
    • 2
  • Natsuki Yamanobe
    • 2
  • Ixchel G. Ramirez-Alpizar
    • 1
  1. 1.Graduate School of Engineering ScienceOsaka UniversitySuitaJapan
  2. 2.Intelligent Systems Research InstituteNational Institute of Advanced Industrial Science and Technology (AIST)ToyonakaJapan

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