ORIENTING POLYGONAL PARTS WITHOUT SENSORS

被引：286

作者：

GOLDBERG, KY

机构：

[1] Institute for Robotics and Intelligent Systems, Computer Science Department, University of Southern California, Los Angeles, 90089-0273, CA

来源：

ALGORITHMICA | 1993年 / 10卷 / 2-4期

关键词：

ROBOTICS; PARTS FEEDING; PLANNING; GRASPING; COMPLIANCE; MOTION PLANNING WITH UNCERTAINTY; COMPLIANT MOTION PLANNING;

D O I：

10.1007/BF01891840

中图分类号：

TP31 [计算机软件];

学科分类号：

081202 ; 0835 ;

摘要：

In manufacturing it is often necessary to orient parts prior to packing or assembly. We say that a planar part is polygonal if its convex hull is a polygon. We consider the following problem: given a list of n vertices describing a polygonal part whose initial orientation is unknown, find the shortest sequence of mechanical gripper actions that is guaranteed to orient the part up to symmetry in its convex hull. We show that such a sequence exists for any polygonal part by giving an O(n2 log n) algorithm for finding the sequence. Since the gripper actions do not require feedback, this result implies that any polygonal part can be oriented without sensors.

引用

页码：201 / 225

页数：25