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Minimal trap design

Publication ,  Journal Article
Agarwal, PK; Collins, AD; Harer, JL
Published in: Proceedings - IEEE International Conference on Robotics and Automation
January 1, 2001

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.

Duke Scholars

Published In

Proceedings - IEEE International Conference on Robotics and Automation

DOI

ISSN

1050-4729

Publication Date

January 1, 2001

Volume

3

Start / End Page

2243 / 2248
 

Citation

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Agarwal, P. K., Collins, A. D., & Harer, J. L. (2001). Minimal trap design. Proceedings - IEEE International Conference on Robotics and Automation, 3, 2243–2248. https://doi.org/10.1109/ROBOT.2001.932956
Agarwal, P. K., A. D. Collins, and J. L. Harer. “Minimal trap design.” Proceedings - IEEE International Conference on Robotics and Automation 3 (January 1, 2001): 2243–48. https://doi.org/10.1109/ROBOT.2001.932956.
Agarwal PK, Collins AD, Harer JL. Minimal trap design. Proceedings - IEEE International Conference on Robotics and Automation. 2001 Jan 1;3:2243–8.
Agarwal, P. K., et al. “Minimal trap design.” Proceedings - IEEE International Conference on Robotics and Automation, vol. 3, Jan. 2001, pp. 2243–48. Scopus, doi:10.1109/ROBOT.2001.932956.
Agarwal PK, Collins AD, Harer JL. Minimal trap design. Proceedings - IEEE International Conference on Robotics and Automation. 2001 Jan 1;3:2243–2248.

Published In

Proceedings - IEEE International Conference on Robotics and Automation

DOI

ISSN

1050-4729

Publication Date

January 1, 2001

Volume

3

Start / End Page

2243 / 2248