|Attractive regions formed by constraints in configuration space - Attractive regions in motion region of a polygonal or a polyhedral part with a flat environment|
|Qiao H(乔红); Qiao, H|
|会议名称||IEEE International Conference on Robotics and Automation|
|会议录名称||IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION|
|会议日期||MAY 21-26, 2001|
|会议地点||SEOUL, SOUTH KOREA|
|摘要||In manipulation with sensor feedback, the controller system adjusts the dynamic system to follow the desired trajectory according to the sensory signal. which looks as if an attractive region is formed to guide the system to follow the desired trajectory.|
In our previous work   it has been pointed out that in the configuration space of the motion regions of the dynamic system under the constraints of the environment, there are also some attractive regions, which exist originally. Effective use of the attractive regions can reduce the requirement for the sensory feedback and may lead to high precision manipulation without sensory feedback or with incomplete sensory feedback. In our previous work, the strategies to achieve high precision robotic assembly in 3D using attractive regions formed by the hole was proposed and applied into practice . By our knowledge, it was at least one of,,cry few cases to achieve high-precision robotic assembly in 3D without force sensors and flexible wrists.
In this paper, (i) it is found out that the attractive regions exist in motion region of a polygonal part in 2D during pushing process by a fence or grasping process by a parallel jaw gripper. Taking an triangular part as an example. this paper provides the strategies to move the polygonal part, from any pose on the plane to a unique pose (by grasping) or a pair of symmetric poses (by grasping) of a parallel jaw gripper, Compared with the previous work , the strategy given in this paper may have more clear engineering sense. The key point is to enable more than one stable states in the last stage in one local attractive region in the current stage. Furthermore the relationship between the shape of the polygonal part and the action steps can be easily deduced due to the number of attractive regions are given clearly. (ii) it is found that there are also many attractive regions in motion regions of a polyhedral part in 3D during pushing process by a fence or grasping process by a parallel jaw gripper. (iii) these attractive regions in the motion region of the polygonal or polyhedral part can also be used to help the identification of the objects on the same conveyer with incomplete information.
|关键词||Back-projection Constraints-based Strategy Investigation Information Based Strategy Investigation|
|Qiao H,Qiao, H. Attractive regions formed by constraints in configuration space - Attractive regions in motion region of a polygonal or a polyhedral part with a flat environment[C],2001.|