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Parallel orientation of polygonal parts

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2 Author(s)
Prasanna, V.K. ; Dept. of Electr. Eng.-Syst., Univ. of Southern California, Los Angeles, CA, USA ; Rao, A.S.

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

Published in:

Robotics and Automation, IEEE Transactions on  (Volume:8 ,  Issue: 5 )

Date of Publication:

Oct 1992

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