Orienting parts with shape variation

F. Panahi; Mansoor Davoodi; A.F. van der Stappen

doi:10.1109/TASE.2015.2498970

Orienting parts with shape variation

F. Panahi, Mansoor Davoodi, A.F. van der Stappen

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Research output: Contribution to journal › Article › Academic › peer-review

Abstract

We study the problem of orienting a part with given admitted shape variations by means of pushing with a single frictionless jaw. We use a very general model for shape variations that is defined by two given convex polygons PI ⊆ PE. In this model, any valid instance must contain PI while it must be contained in PE. The problem that we solve is to determine, for a given h, the sequence of h push actions that puts all valid instances of a part with given shape variation into the smallest possible interval of final orientations. The resulting algorithm runs in O(hn) time, where n=|PI|+|PE|.

Original language	English
Pages (from-to)	1109-1118
Number of pages	10
Journal	IEEE Transactions on Automation Science and Engineering
Volume	14
Issue number	2
DOIs	https://doi.org/10.1109/TASE.2015.2498970
Publication status	Published - Apr 2017

Keywords

Shape
Solid modeling
Sensors
Planning
Manipulators
Uncertainty
Algorithm design and analysis

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10.1109/TASE.2015.2498970

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title = "Orienting parts with shape variation",

abstract = "We study the problem of orienting a part with given admitted shape variations by means of pushing with a single frictionless jaw. We use a very general model for shape variations that is defined by two given convex polygons PI ⊆ PE. In this model, any valid instance must contain PI while it must be contained in PE. The problem that we solve is to determine, for a given h, the sequence of h push actions that puts all valid instances of a part with given shape variation into the smallest possible interval of final orientations. The resulting algorithm runs in O(hn) time, where n=|PI|+|PE|.",

keywords = "Shape, Solid modeling, Sensors, Planning, Manipulators, Uncertainty, Algorithm design and analysis",

author = "F. Panahi and Mansoor Davoodi and {van der Stappen}, A.F.",

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doi = "10.1109/TASE.2015.2498970",

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AU - Panahi, F.

AU - Davoodi, Mansoor

AU - van der Stappen, A.F.

PY - 2017/4

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N2 - We study the problem of orienting a part with given admitted shape variations by means of pushing with a single frictionless jaw. We use a very general model for shape variations that is defined by two given convex polygons PI ⊆ PE. In this model, any valid instance must contain PI while it must be contained in PE. The problem that we solve is to determine, for a given h, the sequence of h push actions that puts all valid instances of a part with given shape variation into the smallest possible interval of final orientations. The resulting algorithm runs in O(hn) time, where n=|PI|+|PE|.

AB - We study the problem of orienting a part with given admitted shape variations by means of pushing with a single frictionless jaw. We use a very general model for shape variations that is defined by two given convex polygons PI ⊆ PE. In this model, any valid instance must contain PI while it must be contained in PE. The problem that we solve is to determine, for a given h, the sequence of h push actions that puts all valid instances of a part with given shape variation into the smallest possible interval of final orientations. The resulting algorithm runs in O(hn) time, where n=|PI|+|PE|.

KW - Shape

KW - Solid modeling

KW - Sensors

KW - Planning

KW - Manipulators

KW - Uncertainty

KW - Algorithm design and analysis

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JO - IEEE Transactions on Automation Science and Engineering

JF - IEEE Transactions on Automation Science and Engineering

IS - 2

ER -

Orienting parts with shape variation

Abstract

Keywords

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