CASIA OpenIR  > 09年以前成果
Two- and three-dimensional part orientation by sensor-less grasping and pushing actions: Use of the concept of 'attractive region in environment'
Qiao, Hong
Source PublicationINTERNATIONAL JOURNAL OF PRODUCTION RESEARCH
2003-09
Volume41Issue:14Pages:3159-3184
Abstract
; In our previous work, a concept "attractive region in strategy investigation" was proposed and it was proven that existence of these "attractive regions" is the essential and sufficient condition for reducing uncertainty. These "attractive regions" can be formed by active inputs based on sensory feedback or by passive inputs from constraints. The "attractive regions" were found and successfully used in three-dimension robotic assembly without force sensors and flexible wrist. Here the concept is successfully used in another important area, part orientation, which is also an essential step in manufacture. The main contribution of this paper includes: (1) the motion region of a general polygon with a flat parallel jaw gripper or a pushing fence is formed by attractive regions, (2) through use of these attractive regions, the algorithm to orient a polygon from arbitrary orientation to a unique orientation without feedback can be deduced straightforward, (3) the motion region of a general convex polyhedron with a flat parallel jaw gripper or a pushing fence in three dimensions is formed by various attractive regions and (4) through use of these attractive regions, an algorithm can be deduced directly based on the shape of a convex polyhedron, which can orient the polyhedron from an arbitrary orientation to a unique orientation without feedback.
KeywordRegular Polyhedral Objects Polygonal Parts Localization Recognition Operations Plane
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/12595
Collection09年以前成果
Corresponding AuthorQiao, Hong
AffiliationUniv Manchester, Inst Sci & Technol, Dept Computat
Recommended Citation
GB/T 7714
Qiao, Hong. Two- and three-dimensional part orientation by sensor-less grasping and pushing actions: Use of the concept of 'attractive region in environment'[J]. INTERNATIONAL JOURNAL OF PRODUCTION RESEARCH,2003,41(14):3159-3184.
APA Qiao, Hong.(2003).Two- and three-dimensional part orientation by sensor-less grasping and pushing actions: Use of the concept of 'attractive region in environment'.INTERNATIONAL JOURNAL OF PRODUCTION RESEARCH,41(14),3159-3184.
MLA Qiao, Hong."Two- and three-dimensional part orientation by sensor-less grasping and pushing actions: Use of the concept of 'attractive region in environment'".INTERNATIONAL JOURNAL OF PRODUCTION RESEARCH 41.14(2003):3159-3184.
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