Automatic feasibility verification of object configurations: A new approach based on feature interaction matrices

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Abstract

A new approach based on qualitative feature interaction matrices (FIMs) to determine the feasibility of contact states between a pair of spatial polyhedra is presented. Determining feasibility of contact state descriptions can potentially be used in automatic generation of assembly strategy. Feature Interaction Matrices are exploited in this paper to model and characterize contact states. A hypothetical contact description in FIM is geometrically feasible if there exists a configuration such that the kinematic constraints imposed by all elements of the FIM are satisfied and the two polyhedra do not penetrate each other. In this paper, an optimization method is used to determine whether kinematic constraints are satisfied. A Spatial reasoning technique is developed to perform penetration checks.

Original languageEnglish (US)
Title of host publicationProceedings of the 3rd IEEE International Conference on Automation Science and Engineering, IEEE CASE 2007
Pages686-691
Number of pages6
DOIs
StatePublished - Dec 1 2007
Event3rd IEEE International Conference on Automation Science and Engineering, IEEE CASE 2007 - Scottsdale, AZ, United States
Duration: Sep 22 2007Sep 25 2007

Publication series

NameProceedings of the 3rd IEEE International Conference on Automation Science and Engineering, IEEE CASE 2007

Other

Other3rd IEEE International Conference on Automation Science and Engineering, IEEE CASE 2007
CountryUnited States
CityScottsdale, AZ
Period9/22/079/25/07

Keywords

  • Assembly contact states
  • Automated assembly
  • Compliant motion planning and control
  • Kinematics
  • Spatial reasoning

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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  • Cite this

    Yang, F., & Marefat, M. M. (2007). Automatic feasibility verification of object configurations: A new approach based on feature interaction matrices. In Proceedings of the 3rd IEEE International Conference on Automation Science and Engineering, IEEE CASE 2007 (pp. 686-691). [4341830] (Proceedings of the 3rd IEEE International Conference on Automation Science and Engineering, IEEE CASE 2007). https://doi.org/10.1109/COASE.2007.4341830