The approach is based on a graph search algorithm. A relational data structure is used to represent a truss structure. There are four types of entities: units, faces, edges, and vertices. There are contain/contained relationships for every pair of entity types, as well as in-contact relationships between faces. A best-first algorithm constitutes the core of the planner. The cost function in the current implementation corresponds to a combination of the rigidity of the intermediate structures and the total distance to be traversed by the agent executing the assembly tasks.
Assembly planning for large truss structures in space
Montageplanung für große Fachwerkstrukturen im Weltraum
1990
4 Seiten, 13 Quellen
Conference paper
English
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