R. Mattikalli and P. Khosla. Motion constraints from contact geometry: Representation and analysis. In Proceedings IEEE International Conference on Robotics and Automation, pages 2178--2185, Nice, France, 1992.  Home/Search   Document Details and Download   Summary   Related Articles   Check

....time and money if the test is unsuccessful. Although several tools have been developed to compute some of the answers needed by designers (i.e. compute a feasible assembly sequence [31, 78, 51, 38] compute a fixturing grasping configuration [9, 59] analyze the stability of two bodies in contact [52], etc) they have been developed in an isolated fashion making hard to integrate their results. Each tool uses its own object models (which highlight some particular analysis features) sets of constraints, scale factors, and base units (inches, mm, etc) leading to incompatibility problems when ....

R. Mattikalli and P. Khosla. Motion constraints from contact geometry: Representation and analysis. In Proceedings IEEE International Conference on Robotics and Automation, pages 2178--2185, Nice, France, 1992.

....of contact state and contact state transition. Laugier [24] has developped a method which consists in deducing a fine motion stategy from a analysis of the different ways to possibly separate the part of the final assembly. Similarly to the ideas that are present in mechanical assembly planning [41, 28], the method consists in studying locally the contacts between the different parts, so that the constraints on motions of the these 3 D parts can be determined. From this analysis, a state graph is constructed, and then is searched for a solution sequence of contact states. From these transitions, ....

R. S. Mattikalli and P. K. Khosla. Motion Constraints from Contact Geometry: Representation and Analysis. In Proceeding of IEEE conference on Robotics and Automation, Nice, 1992. IEEE.

....Among related work, the most closely related is the work of Hirai [5] 6] which deals with the kinematic analysis of contacts to model robot assembly tasks based on contact states. Laugier [12] also uses the contact geometry to plan fine motion during assembly. Other work such as by Mattikalli [18] deal with representation of the motion constraints based on contact geometry. The concept of partitioning contact state space and using it to build task models was first proposed by Ikeuchi [23] Our work provides the theoretical basis for this. 1.1 Organization of this Report Section 2 ....

Mattikalli, R S, and Khosla, P K. Motion Constraints from Contact Geometry: Representation and Analysis. IEEE Int Conf on R & A, 1992, vol 3, pages 2178-2185.

....of the workpieces. In this approach, planning a fine motion strategy can be seen as determining an ordered sequence of well chosen contact situations and the actions to move between them. These actions are derived from the degrees of freedom of the manipulated object. Mattikalli and Khosla [Mat and Kos 92] presented a geometric representation of the translational and rotational disallowed directions between objects in contact. This analysis is based on the degrees of freedom which are constrained by the contacts between objects. This representation is applied to automate a disassembly task ....

R.S. Mattikalli and P.K. Khosla. Motion Constraints from Contact Geometry: Representation and Analysis. The IEEE International Conference on Robotics and Automation, 3:2178--2185, Nice, May 1992.

....and thus there is still more checking to be done in order to produce such a motion, if one exists. In spite of this shortcoming, infinitesimal motions are attractive in assembly planning because their analysis translates to handling linear constraints, even when allowing rotation (see, e.g. 5] [9], 17] Fore more information on assembly planning see, e.g. 6] 16] 18] In 1988, in his paper On Planning Assemblies [12] Natarajan conjectured that two hands suffice to assemble any composite comprised of convex polyhedra in 3 space . In a surprising result, Snoeyink and Stolfi [14] have ....

R.S. Mittikalli and P.K. Khosla, Motion constraints from contact geometry: Representation and analysis, Proc. IEEE International Conference on Robotics and Automation, Nice, 1992, pp. 2178--2185.

....techniques have been developed to construct complete fine motion strategies for assembly tasks. In most cases, there is not an explicit representation of the uncertainty. Instead, the degrees of freedom in contact situations are analysed in order to generate an assembly or disassembly plan [8] [12], 4] A more general planning framework for the planning problem using an explicit model of uncertainty was introduced by [10] Applications of this approach are proposed in [3] and [9] Another planning approach considering an explicit model of uncertainty is presented in [2] We are interested ....

R.S. Mattikalli and P.K. Khosla. "Motion constraints from contact geometry: representation and analysis," in Proc. IEEE Int. Conf. on Robot. and Automat., 1992, pp. 2178--2185.

....an uncommon situation, we shall assume that a surface of contact with nonvanishing area exists. The orientation of this surface is selected so that the normal direction l lies within the solid, as shown in Figure 3(d) To obtain constraints for more complex contact geometry, Mattikalli and Khosla[10] propose a geometric representation of motion constraints. This method can be used to generate constraints for curved line segments of contact. 2.2 Determining Stability As stated in section 1.2, a system at rest in a gravitational field will move so as to decrease its potential energy as much as ....

R. S. Mattikalli and P. K. Khosla. Motion Constraints from Contact geometry: Representation and Analysis. Proc. of the IEEE Int. Conf. on Robotics and Automation, 1992. IEEE, May, 1992.

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