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Orienting generalized polygonal parts

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2 Author(s)
Rao, A.S. ; Inst. of Robotics & Intelligent Syst., Univ. of Southern California, Los Angeles, CA, USA ; Goldberg, K.Y.

K.Y. Goldberg (1990) described an algorithm for orienting planar polygonal parts using a modified parallel-jaw gripper. The authors extend this algorithm to handle parts with curved edges. They define a generalized polygon as a planar figure made up of piecewise linear and circular edges, and a generalized polygonal part as one of constant cross section, the convex hull of which is a generalized polygon. For this class of parts a complete algorithm for determining an optimal parts-orienting strategy is presented

Published in:

Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on

Date of Conference:

12-14 May 1992