Minimal trap design

Journal Article (Journal Article)

This paper addresses the issue of trap design for sensorless automated assembly. First, we present a simple algorithm that determines in O(nm α(nm) log(nm)) time whether an n-sided polygonal part will fall through an m-sided polygonal trap. We then introduce the notion of a minimal trap for a polygonal part, and develop an algorithm to design a family of minimal feeders built from these traps. The algorithm runs in O(kn3+ε) time, where k is the number of stable orientations of P. Moreover, it is complete in the sense that we can always find a feeder, provided that one exists that rejects and supports the appropriate poses of the part.

Full Text

Duke Authors

Cited Authors

  • Agarwal, PK; Collins, AD; Harer, JL

Published Date

  • January 1, 2001

Published In

Volume / Issue

  • 3 /

Start / End Page

  • 2243 - 2248

International Standard Serial Number (ISSN)

  • 1050-4729

Digital Object Identifier (DOI)

  • 10.1109/ROBOT.2001.932956

Citation Source

  • Scopus