Abstract
Industrial parts are manufactured to tolerances as no production process is capable of delivering perfectly identical parts. It is unacceptable that a plan for a manipulation task that was determined on the basis of a CAD model of a part fails on some manufactured instance of that part, and therefore it is crucial that the admitted shape variations are systematically taken into account during the planning of the task. We study the problem of orienting a part with given admitted shape variations by means of pushing with a single frictionless jaw. We use a very general model for admitted shape variations that only requires that any valid instance must contain a given convex polygon \(P_I\) while it must be contained in another convex polygon \(P_E\). The problem that we solve is to determine, for a given \(h\), the sequence of \(h\) push actions that puts all valid instances of a part with given shape variation into the smallest possible interval of final orientations. The resulting algorithm runs in \(O(hn)\) time, where \(n=|P_I|+|P_E|\).
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Panahi, F., Davoodi, M., van der Stappen, A.F. (2015). Orienting Parts with Shape Variation. In: Akin, H., Amato, N., Isler, V., van der Stappen, A. (eds) Algorithmic Foundations of Robotics XI. Springer Tracts in Advanced Robotics, vol 107. Springer, Cham. https://doi.org/10.1007/978-3-319-16595-0_28
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DOI: https://doi.org/10.1007/978-3-319-16595-0_28
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