Generating a contact state graph of polyhedral objects for robotic application

Traditional methods require large computation to model a contact state graph of polyhedral objects for robotic application, and moreover they are heuristic. In this paper, we propose a framework to generate the contact state graph automatically. All faces of the polyhedral objects are triangulated. A sub-contact is defined as single contact between two polyhedral objects and a contact state is presented with a set of the sub-contacts. There are two sub-contacts, a vertex-triangle contact and an edge-edge contact. According to convexity or concavity of the edges composing the triangle, the vertex-triangle contact and the edge-edge contact are classified into 10 types and 7 types, respectively. A contact state graph is made by evolutionary transitions of the sub-contacts. This procedure is accomplished only using the topology of the sub-contacts, which is possible in real-time. The proposed framework is evaluated by an example of square peg-in-hole assembly.

[1]  Mark de Berg,et al.  Computational geometry: algorithms and applications , 1997 .

[2]  Armando Fox,et al.  Exploiting visual constraints in the synthesis of uncertainty-tolerant motion plans , 1995, IEEE Trans. Robotics Autom..

[3]  Federico Thomas,et al.  A simple characterization of the infinitesimal motions separating general polyhedra in contact , 1999, Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C).

[4]  Bruno Siciliano,et al.  Control of two industrial robots for parts mating , 1998, Proceedings of the 1998 IEEE International Conference on Control Applications (Cat. No.98CH36104).

[5]  S. K. Tso,et al.  THREE-STEP PRECISE ROBOTIC PEG-HOLE INSERTION OPERATION WITH SYMMETRIC REGULAR POLYHEDRAL OBJECTS , 1999 .

[6]  Jing Xiao,et al.  Automatic Generation of High-Level Contact State Space , 1999, Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C).

[7]  Pavan Sikka,et al.  Monitoring contact using clustering and discriminant functions , 1996, Proceedings of IEEE International Conference on Robotics and Automation.

[8]  Shinichi Hirai,et al.  Analysis and Planning of Manipulation Using the Theory of Polyhedral Convex Cones , 1991 .

[9]  Seong Youb Chung,et al.  An augmented Petri net for modelling and control of assembly tasks with uncertainties , 2005, Int. J. Comput. Integr. Manuf..

[10]  Thomas H. Cormen,et al.  Introduction to algorithms [2nd ed.] , 2001 .

[11]  Jing Xiao,et al.  Automatic Generation of High-level Contact State Space between 3D Curved Objects , 2008, Int. J. Robotics Res..