Achieving desired contact state transitions of polyhedral parts with compliant motions

Research output: Chapter in Book/Report/Conference proceedingConference contribution

8 Scopus citations

Abstract

A new approach to motion planning to achieve contact state transitions in robotic assembly of polyhedral parts is presented. The contact state of a pair of spatial polyhedra is represented by qualitative contact models, which include Feature Interaction Matrices (FIM's) representation is adopted. Given the desired contact transition (i.e., the current contact state and the next desired contact state) and the current moving object configuration, we want to generate the compliant motion parameters for the robot system to guide the work piece to the next desired contact state. In this work, optimization method is used to derive the compliant motion parameters. Four motion control conditions are defined to provide constraints; a cost function representing the moving distance is also defined. Minimizing the cost function, the compliant motion parameters can be generated. The method is demonstrated by both translation and rotation examples.

Original languageEnglish (US)
Title of host publicationProceedings of the 2005 IEEE International Conference on Robotics and Automation
Pages4206-4211
Number of pages6
DOIs
StatePublished - Dec 1 2005
Event2005 IEEE International Conference on Robotics and Automation - Barcelona, Spain
Duration: Apr 18 2005Apr 22 2005

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2005
ISSN (Print)1050-4729

Other

Other2005 IEEE International Conference on Robotics and Automation
CountrySpain
CityBarcelona
Period4/18/054/22/05

Keywords

  • Compliant motion planning
  • Contact
  • Geometric constraints

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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  • Cite this

    Fan, Y., & Marefat, M. M. (2005). Achieving desired contact state transitions of polyhedral parts with compliant motions. In Proceedings of the 2005 IEEE International Conference on Robotics and Automation (pp. 4206-4211). [1570766] (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2005). https://doi.org/10.1109/ROBOT.2005.1570766