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Mechanical parts orienting: the case of a polyhedron on a table

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3 Author(s)
M. Erdmann ; Sch. of Comput. Sci., Carnegie Mellon Univ., Pittsburgh, PA, USA ; M. T. Mason ; G. Vanecek

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(n4), where n is the number of faces of the polyhedron. The planner produces a sequence of O(n) distinct tilts

Published in:

Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on

Date of Conference:

9-11 Apr 1991