• DocumentCode
    956698
  • Title

    Parallel orientation of polygonal parts

  • Author

    Prasanna, Viktor K. ; Rao, Anil S.

  • Author_Institution
    Dept. of Electr. Eng.-Syst., Univ. of Southern California, Los Angeles, CA, USA
  • Volume
    8
  • Issue
    5
  • fYear
    1992
  • fDate
    10/1/1992 12:00:00 AM
  • Firstpage
    678
  • Lastpage
    687
  • Abstract
    Manufacturing processes often produce a stream of parts that must be oriented precisely before assembly. Given the description of an n -sided planar polygonal part, K.Y. Goldberg (Ph.D. Diss., Carnegie-Mellon Univ., 1990) presents an O(n3 ) serial algorithm that produces an optimal sequence of gripper actions to orient the part up to symmetry using a sensorless parallel jaw gripper. The authors consider an online version of this problem and given an O(n) parallel solution for it on an n×n mesh-connected computer
  • Keywords
    assembling; computational complexity; industrial manipulators; manufacturing data processing; parallel algorithms; planning (artificial intelligence); assembly; gripper actions; n-sided planar polygonal part; parallel algorithm; parallel orientation; planning algorithm; polygonal parts feeding; sensorless parallel jaw gripper; Calibration; Grippers; Manipulators; Manufacturing processes; Observability; Parameter estimation; Robot kinematics; Robotic assembly; Robotics and automation; Topology;
  • fLanguage
    English
  • Journal_Title
    Robotics and Automation, IEEE Transactions on
  • Publisher
    ieee
  • ISSN
    1042-296X
  • Type

    jour

  • DOI
    10.1109/70.163793
  • Filename
    163793
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=956698