DocumentCode
291269
Title
A motion planning algorithm of polyhedra in contact for mechanical assembly
Author
Hirukawa, H. ; Papegay, Y. ; Tsukune, H.
Author_Institution
Comput. Sci. Robotics Lab., Stanford Univ., CA, USA
Volume
2
fYear
1994
fDate
5-9 Sep 1994
Firstpage
924
Abstract
A motion planning of objects in contact is one of the most important technologies to realize autonomous mechanical assembly by robot manipulators. This paper studies a motion planning of polyhedra in contact. We show a complete algorithm in the case that a convex polyhedron translates and rotates in contact with another one. We also discuss what happens in the nonconvex cases. The principle idea of the study is that astute geometric formulations make the algebraic problem easier to solve
Keywords
assembling; computational complexity; computational geometry; mechanical contact; path planning; algebraic representation; astute geometric formulations; asymptotic time complexity; convex polyhedron; mechanical assembly; motion planning; nonconvex case; object contact; polyhedra; robot; Computer science; Equations; Laboratories; Manufacturing processes; Motion planning; Quaternions; Robotic assembly; Robotics and automation; Shape; Technology planning;
fLanguage
English
Publisher
ieee
Conference_Titel
Industrial Electronics, Control and Instrumentation, 1994. IECON '94., 20th International Conference on
Conference_Location
Bologna
Print_ISBN
0-7803-1328-3
Type
conf
DOI
10.1109/IECON.1994.397912
Filename
397912
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