Planning with Constraint Satisfaction Problem (CSP)

Machining operation such as milling and drilling are performed on large sheet metals. Traditionally large sheet metals fixture the sheet metals. In the EU FP7 project "SwarmItFix", a re-configurable manipulator acts as mobile fixtures. Such an application requires a planner to optimally place these fixture heads along the sheet metals when the tool performs the machining operation. A planner with strategy of CSP (Constraint Satisfaction Problem) is implemented using Python to achieve a feasible plan for both flat sheet metals and sheet metals with contour shapes.

Prerequisites

Python 2.7

Instructions

1. Clone the repository
2. Input -> /Data/contour_input.py. All contour points are input in a 3D array (CP)
3. Run "PathPlanner.py"
4. Detail plan is generated with visual image outputs.