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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Erdmann, M. Mason, M.T. Vanecek Jr., G. |
| Copyright Year | 1991 |
| Description | Author affiliation: Sch. of Comput. Sci., Carnegie Mellon Univ., Pittsburgh, PA, USA (Erdmann, M.; Mason, M.T.) |
| Abstract | The problem of orienting a part resting on a table by tilting the table is considered. The initial orientation of the part is assumed to be completely unknown. The objective is to tilt the table in a manner that reduces the uncertainty in the part's orientation. This work focuses on three-dimensional polyhedral parts, with finite friction between the parts and the table, and for which all transitions between different face-table contacts may be regarded as rotations across edges. A planner that determines a sequence of tilting operations designed to minimize the uncertainty in the part's orientation is proposed. The planner runs in time O(n/sup 4/), where n is the number of faces of the polyhedron. The planner produces a sequence of O(n) distinct tilts. |
| Starting Page | 360 |
| Ending Page | 365 |
| File Size | 476893 |
| Page Count | 6 |
| File Format | |
| ISBN | 081862163X |
| DOI | 10.1109/ROBOT.1991.131602 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 1991-04-09 |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Computer aided software engineering Uncertainty Assembly Friction Computer science Machine vision Manufacturing systems Manufacturing industries Algorithm design and analysis |
| Content Type | Text |
| Resource Type | Article |
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