DocumentCode :
3615654
Title :
Mechanical parts orienting: the case of a polyhedron on a table
Author :
M. Erdmann;M.T. Mason;G. Vanecek
Author_Institution :
Sch. of Comput. Sci., Carnegie Mellon Univ., Pittsburgh, PA, USA
fYear :
1991
fDate :
6/13/1905 12:00:00 AM
Firstpage :
360
Abstract :
The problem of orienting a part resting on a table by tilting the table is considered. The initial orientation of the part is assumed to be completely unknown. The objective is to tilt the table in a manner that reduces the uncertainty in the part´s orientation. This work focuses on three-dimensional polyhedral parts, with finite friction between the parts and the table, and for which all transitions between different face-table contacts may be regarded as rotations across edges. A planner that determines a sequence of tilting operations designed to minimize the uncertainty in the part´s orientation is proposed. The planner runs in time O(n/sup 4/), where n is the number of faces of the polyhedron. The planner produces a sequence of O(n) distinct tilts.
Keywords :
"Computer aided software engineering","Uncertainty","Assembly","Friction","Computer science","Machine vision","Manufacturing systems","Manufacturing industries","Algorithm design and analysis"
Publisher :
ieee
Conference_Titel :
Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on
Print_ISBN :
0-8186-2163-X
Type :
conf
DOI :
10.1109/ROBOT.1991.131602
Filename :
131602
Link To Document :
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