Application of" generalized attractive region" in orienting 3D polyhedral part

	Application of" generalized attractive region" in orienting 3D polyhedral part
	Qiao H(乔红)
	2003
会议名称	20th IEEE International Conference on Robotics and Automation (ICRA)
会议日期	SEP 14-19, 2003
会议地点	TAIPEI, TAIWAN
关键词	UNCERTAINTY OBJECTS PLANE
通讯作者	Qiao, H
英文摘要	In our previous work [Qiao, 2000], the concept of "generalized attractive region" in strategy investigation has been proposed. With this simple concept, a logical way to form strategies to achieve high precision tasks with minimum sensory feedback was achieved. The concept has been successfully applied to 3D high precision sensorless robotic assembly, 2D sensor-less robotic orientation system and 2D sensor-less posing system with a four-pin gripper. The work was reported by "Advanced Manufacturing Technology Alert" [Editor, 1999]. In this paper, the conditions of the environment in robotic system, which can form attractive regions, are systematically analyzed in theory. Through analysis and simulation results, a. it shows that there are always some strategic attractive regions which exist in the allowable region of the 3D polyhedral part with a flat environment, b. therefore the pushing or grasping plan can be given directly. c. also the vertex which touches the fence or the gripper in given orientation is given directly and, d. it has been proven that on each rotational vector direction (which lies on any direction on XOY plane) and with the same contact vertex, the distance between the center of the part and the fence is a sinusoid function of the rotation amplitude. Furthermore, the amplitude and the initial angle of the sinusoid function is also investigated.
会议录	IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION
内容类型	会议论文
源URL	[http://ir.ia.ac.cn/handle/173211/12846]
专题	自动化研究所_09年以前成果
推荐引用方式 GB/T 7714	Qiao H. Application of" generalized attractive region" in orienting 3D polyhedral part[C]. 见:20th IEEE International Conference on Robotics and Automation (ICRA). TAIPEI, TAIWAN. SEP 14-19, 2003.