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
fDate :
10/1/1992 12:00:00 AM
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;
Journal_Title :
Robotics and Automation, IEEE Transactions on
