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Optimal strategies for recognizing polygonal parts

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2 Author(s)
Govindan, R. ; Dept. of Comput. Sci., Tennessee Univ., Knoxville, TN, USA ; Rao, A.S.

Automatic recognition of parts is an important problem with applications in sorting parts for packing and assembly. Our objective is to recognize parts using inexpensive, widely-available robot hardware as an alternative to machine vision. Specifically, our aim is to determine the shape of a polygonal part from a sequence of diameter (width) measurements made by grasping the part with an instrumented parallel-jaw gripper. Since complete determination of shape is not possible using just diameter measurements, we consider the problem of recognizing a part from a known (finite) set of parts. Given a set of parts with a total of N faces, of which n are stable, we first construct an internal representation of the stable faces in O(N+n4) time. Then we give two off-line planning algorithms: one constructs an optimal sensing plan in time O(n42n) the other constructs a suboptimal sensing plan in time O(n2 log n). Neither plan requires more than n+1 online measurements

Published in:

Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on

Date of Conference:

8-13 May 1994