Title :
A general theory for positioning and orienting 2D polygonal or curved parts using intelligent motion surfaces
Author :
Coutinho, Murilo G. ; Will, Peter M.
Author_Institution :
Inf. Sci. Inst., USC, Marina de Rey, CA, USA
Abstract :
We present a new approach to compute quasi-static and dynamic equilibrium positions and orientations (if any) of 2D polygonal or curved parts placed on general shaped 2D force field configurations. On the theoretical side, the novelty of our approach is that it puts into practice a fundamental result of piecewise-linear topology-the simplicial approximation theorem-and suggests an implementation using tools and techniques borrowed from modern computational geometry
Keywords :
computational geometry; intelligent control; manipulators; piecewise-linear techniques; position control; spatial reasoning; 2D curved parts; 2D force field configurations; 2D polygonal parts; computational geometry; dynamic equilibrium; intelligent motion surfaces; parts orientation; parts positioning; piecewise-linear topology; planar parts; quasi-static equilibrium; simplicial approximation theorem; Assembly systems; Computational geometry; Dynamic equilibrium; Intelligent robots; Manipulator dynamics; Motion control; Piecewise linear techniques; Robotic assembly; Topology; Torque;
Conference_Titel :
Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on
Conference_Location :
Leuven
Print_ISBN :
0-7803-4300-X
DOI :
10.1109/ROBOT.1998.677092