Geometric algorithms for trap design

Geometric algorithms have successfully been applied to solve or give insight into problems in robotic manipulation. In this paper, we present a framework to filter polygonal parts on a track. The filter consists of a polygonal hole in the track; we refer to the filters as trap’s. For an n-sided polygonal part and an m-sided polygonal trap, we give an O((nm.(n + m))‘+‘) algorithm to. decide whether the part in a specific orientation will safely move across the trap or will fall through the trap and thus be filtered out. Furthermore, we show how to design various parameterized traps, ranging from simple gaps to arbitrary polygons which will filter out all but one of the different stable orientations of a given part.

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