Surface-based geometric modeling using teaching trees in consideration of backprojection

In motion planning of robots, geometric modeling plays an important role. Generally, the shapes of objects such as factory products can be stored in a database, so the elements that need to be decided are positions and orientations. In this paper, surface-based geometric modeling using teaching trees in consideration of backprojection is proposed. In this modeling, teaching trees representing combinations of surfaces for deciding positions and orientations are used. The operator can choose easily one combination out of several compared with the obtained data. Moreover the teaching trees are depth-first based on backprojection which is a method of motion planning, so a geometric model suited to robot motion can be obtained