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Elimination of unnecessary contact states in contact state graphs for robotic assembly tasks.
- Source :
-
International Journal of Advanced Manufacturing Technology . Feb2014, Vol. 70 Issue 9-12, p1683-1697. 15p. 19 Diagrams, 3 Graphs. - Publication Year :
- 2014
-
Abstract
- It needs much computation to develop a contact state graph and find an assembly sequence because polyhedral objects consist of a lot of vertices, edges, and faces. In this paper, we propose a new method to eliminate unnecessary contact states in the contact state graph corresponding to a robotic assembly task. In our method, the faces of polyhedral objects are triangulated, and the adjacency of each vertex, edge, and triangle between an initial contact state and a target contact state is defined. Then, this adjacency is used to create contact state graphs at different priorities. When a contact state graph is finished at a higher priority, a lot of unnecessary contact states can be eliminated because the contact state graph already includes at least one realizable assembly sequence. Our priority-based method is compared with a face-based method through statistically analyzing the contact state graphs obtained from different assembly tasks. Finally, our method results in a significant improvement in the final performance. [ABSTRACT FROM AUTHOR]
Details
- Language :
- English
- ISSN :
- 02683768
- Volume :
- 70
- Issue :
- 9-12
- Database :
- Academic Search Index
- Journal :
- International Journal of Advanced Manufacturing Technology
- Publication Type :
- Academic Journal
- Accession number :
- 94380355
- Full Text :
- https://doi.org/10.1007/s00170-013-5413-z