DocumentCode :
3442298
Title :
A general strategy to determine geometrically valid contact formations from possible contact primitives
Author :
Xiao, Jing ; Zhang, Lixin
Author_Institution :
Dept. of Comput. Sci., North Carolina Univ., Charlotte, NC, USA
Volume :
3
fYear :
1995
fDate :
21-27 May 1995
Firstpage :
2728
Abstract :
A general strategy is presented to determine the geometrically valid contact formations (CFs) from a given set Spc of possible principal contacts (PCs) between two arbitrary polygonal objects in the presence of location uncertainties. For any (non-empty) subset of Spc, the strategy tests if the PCs in the set form a possible CB by analyzing the geometrical contact constraints. The obtained set of geometrically valid CFs can serve as input to a verifier based on force sensing which will identify the actual CF occurred. Our analyses of contact constraints are complete and general. The results demonstrate that despite uncertainties in object locations, if two or more PCs are formed between two objects, their relative location in many cases is fixed or can take up to only 4 solutions. In such cases, we can accurately identify a valid CF. From a different perspective, these results could also be useful in grasp planning. Our future work includes taking into account modeling uncertainties of objects and extending this method to three-dimensional objects
Keywords :
assembling; computational geometry; industrial robots; robots; contact formations; contact primitives; force sensing; geometrical contact constraints; grasp planning; Assembly; Computer science; Face recognition; Linear approximation; Linear programming; Personal communication networks; Robot sensing systems; Robotics and automation; Testing; Uncertainty;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on
Conference_Location :
Nagoya
ISSN :
1050-4729
Print_ISBN :
0-7803-1965-6
Type :
conf
DOI :
10.1109/ROBOT.1995.525669
Filename :
525669
Link To Document :
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