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On the hybrid workpiece localization/envelopment problems

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3 Author(s)
Chu, Y.X. ; Dept. of Electr. & Electron. Eng., Hong Kong Univ. of Sci. & Technol., Kowloon, Hong Kong ; Gou, J.B. ; Li, Z.X.

This paper defines a hybrid localization/envelopment problem, develops a formulation of the hybrid localization/envelopment problem, and presents a simple algorithm for computing its solutions. First, we show that when the finished surfaces of a workpiece are inadequate to fully constrain the rigid motions of the workpiece, then the remaining set of free motions must form a subgroup G0 of the Euclidean group SE(3). This allows us to decompose the hybrid problem into a (symmetric) localization problem on the homogeneous space SE(3)/G0 and an envelopment problem on G0. The geometric properties of SE(S)/G0 are used to convert the envelopment problem into a nonlinear programming problem with a convex objective function, which is then solved using techniques from nonlinear programming. Finally, we present simulation results to illustrate the effectiveness of our method for the hybrid problem

Published in:

Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on  (Volume:4 )

Date of Conference:

16-20 May 1998