An efficient algorithm for computing object poses in a modular fixture or gripper
文献类型：期刊论文
| 作者 | Qian, Wen Han ; Qiao, Hong
|
| 刊名 | Journal of Robotic Systems
 |
| 出版日期 | 2002-03 |
| 卷号 | 19期号:3页码:99–114 |
| 关键词 | agility metrics enterprise agility agile manufacturing fuzzy logic |
| 通讯作者 | Qian, Wen Han |
| 英文摘要 | Modular or reconfigurable fixtures (or grippers) can reduce manufacturing costs and time remarkably. Computing the poses of a given object in a modular fixture is a basic but tedious technique for designing and using such fixtures. This article presents an efficient algorithm for computing the poses. Starting from a unified expression of the outline of an object, this algorithm searches all matching poses automatically. If the outline consists of straight lines and circular arcs only, all the unknown variables can be calculated sequentially by substituting known (or tentative) data in respective expressions, without solving complicated simultaneous equations. When applied to arbitrary outlines, it involves nothing more than common interpolation. The search process is visualized through diagrams that clearly display the occurrence of matching poses. The computer programs are universally applicable. Only the data of the object outline and the fixture configuration need be input. Case studies show that the programs run fast and yield accurate results. |
| 源URL | [http://ir.ia.ac.cn/handle/173211/12611]  |
| 专题 | 自动化研究所_复杂系统管理与控制国家重点实验室_机器人应用与理论组 |
| 作者单位 | Robotics Institute, Shanghai Jiao Tong University |
| 推荐引用方式 GB/T 7714 | Qian, Wen Han,Qiao, Hong. An efficient algorithm for computing object poses in a modular fixture or gripper[J]. Journal of Robotic Systems,2002,19(3):99–114. |
| APA | Qian, Wen Han,&Qiao, Hong.(2002).An efficient algorithm for computing object poses in a modular fixture or gripper.Journal of Robotic Systems,19(3),99–114. |
| MLA | Qian, Wen Han,et al."An efficient algorithm for computing object poses in a modular fixture or gripper".Journal of Robotic Systems 19.3(2002):99–114. |
入库方式： OAI收割
来源：自动化研究所
浏览0
下载0
收藏0
其他版本
除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。