Achieving desired contact state transitions of polyhedral parts with compliant motions

Yang Fan; Michael M. Marefat

doi:10.1109/ROBOT.2005.1570766

Achieving desired contact state transitions of polyhedral parts with compliant motions

Yang Fan, Michael M. Marefat

Electrical and Computer Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

9 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 language	English (US)
Title of host publication	Proceedings of the 2005 IEEE International Conference on Robotics and Automation
Pages	4206-4211
Number of pages	6
DOIs	https://doi.org/10.1109/ROBOT.2005.1570766
State	Published - 2005
Event	2005 IEEE International Conference on Robotics and Automation - Barcelona, Spain Duration: Apr 18 2005 → Apr 22 2005

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
Volume	2005
ISSN (Print)	1050-4729

Other

Other	2005 IEEE International Conference on Robotics and Automation
Country/Territory	Spain
City	Barcelona
Period	4/18/05 → 4/22/05

Keywords

Compliant motion planning
Contact
Geometric constraints

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

Access to Document

10.1109/ROBOT.2005.1570766

Cite this

Achieving desired contact state transitions of polyhedral parts with compliant motions. / Fan, Yang; Marefat, Michael M.
Proceedings of the 2005 IEEE International Conference on Robotics and Automation. 2005. p. 4206-4211 1570766 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2005).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Fan, Y & Marefat, MM 2005, Achieving desired contact state transitions of polyhedral parts with compliant motions. in Proceedings of the 2005 IEEE International Conference on Robotics and Automation., 1570766, Proceedings - IEEE International Conference on Robotics and Automation, vol. 2005, pp. 4206-4211, 2005 IEEE International Conference on Robotics and Automation, Barcelona, Spain, 4/18/05. https://doi.org/10.1109/ROBOT.2005.1570766

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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.",

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AB - 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.

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KW - Contact

KW - Geometric constraints

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Achieving desired contact state transitions of polyhedral parts with compliant motions

Abstract

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Keywords

ASJC Scopus subject areas

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