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
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;
Conference_Titel :
Industrial Electronics, Control and Instrumentation, 1994. IECON '94., 20th International Conference on
Conference_Location :
Bologna
Print_ISBN :
0-7803-1328-3
DOI :
10.1109/IECON.1994.397912
