DocumentCode :
315495
Title :
A quasi-linear method for computing and projecting onto c-surfaces: planar case
Author :
Paul, George V. ; Ikeuchi, Katsushi
Author_Institution :
Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
Volume :
3
fYear :
1997
fDate :
20-25 Apr 1997
Firstpage :
2032
Abstract :
This paper presents a general method to compute configuration space (c-space) obstacle surfaces (c-surfaces) in planar quaternion space. We extend the method to find the projection of a given point in c-space onto the c-surface We parameterize the general c-surface using a rotation angle and the vector of translation parameters of the individual contacts. We first compute the domain of the rotation parameter. Then, we can setup the translation parameters in a linear equation. The solution of this equation using singular value decomposition gives us the exact parameters of translation. We can extend this quasi-linear method to project a point in c-space onto the c-surface. We implement our theory on the assembly plan from observation (APO) system. The APO observes discrete instants of an assembly task and reconstructs the compliant motion plan employed in the task. We compute the contacts at each observed instant and the corresponding c-surface. We then interpolate the path on each c-surface to obtain segments of the path. The complete motion plan will be the concatenation of the connected path segments
Keywords :
assembling; image sequences; industrial manipulators; path planning; robot programming; singular value decomposition; stereo image processing; assembly plan from observation system; c-surfaces; compliant motion plan; configuration space obstacle surfaces; connected path segments; planar quaternion space; quasi-linear method; rotation parameter; singular value decomposition; translation parameters; Algebra; Assembly; Computer aided software engineering; Equations; Orbital robotics; Quaternions; Singular value decomposition; Vectors;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3612-7
Type :
conf
DOI :
10.1109/ROBOT.1997.619172
Filename :
619172
Link To Document :
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