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Abstract

This paper uses a configuration space (c-space) approach to finding a satisfactory stack of polyhedral parts; we tested this method with industrial sheet metal parts. The optimal configuration for a new part, added to an existing stack, minimizes distance from a user-specified desired position, lies inside a given c-space region and, avoids interference with parts already in the stack. We present an iterative c-space based method that works with discrete orientations and yet produces interference-free configurations close to the desired part configuration. Two techniques are used to speed up the most computationally intensive step of c-space obstacle computation. An algorithm to compute orientation ranges within which connectivity graph topology of the obstacle stays constant is presented. For every discrete orientation, we construct only a portion of the c-space obstacle in order to compute an interference-free configuration.

Notes

Text Reference

Venkat Ayyadevara, David Bourne, Kenji Shimada, and R. H. Sturges, "Determining Near Optimal Interference-free Polyhedral Configurations for Stacking," Proceedings of IEEE International Symposium on Assembly and Task Planning, , July, 1999, pp. 286-293.

BibTeX Reference

@article{Ayyadevara_1999_3051,
   author = "Venkat Ayyadevara and David Bourne and Kenji Shimada and R. H. Sturges",
   title = "Determining Near Optimal Interference-free Polyhedral Configurations for Stacking",
   journal = "Proceedings of IEEE International Symposium on Assembly and Task Planning",
   pages = "286-293",
   month = "July",
   year = "1999",
}

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