Research Article
Assembly Sequence Planning for Rectangular Modular Robots with Accessibility Constraints
Figure 8
(a) A target structure with an internal hole. (b) If the internal hole is modeled as a singular robot system h1, the target structure cannot be assembled. In fact, robot system C cannot be assembled in C → h1 or h1 → C order (c). As shown, respectively, in (d) and (e), robot system C induces conflicting edges in h1 and vice versa.
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