Paper Info
Title
Contact Constraint Analysis And Determination Of Geometrically Valid Contact Formations From Possible Contact Primitives
Abstract
A complete, precise, and systematic analysis on the geometrical nature of contacts between two arbitrary polygons and derivation of the geometric contact constraints between two such polygons are provided. Based on the results, a general algorithm is presented to identify the geometrically valid contact formations (CF's) from a given set S-pc of possible principal contacts (PC's) between two polygonal objects with location uncertainties, For any (nonempty) subset of S-pc the algorithm tests if the PC's in the set form a possible CF by verifying the geometrical contact constraints The obtained set of geometrically valid CF's can serve as input to an additional verifier based on force sensing which can extract the actual CP from the set, The notion of equivalent CF's is introduced to describe those contact situations constraining the relative location between two objects to the same region, This concept proves to be extremely useful to the completeness of the analysis and efficiency of the algorithm, Of the man discoveries, a particularly significant one is that despite uncertainties in object locations, in many cases, if two or more PC's are formed between two objects, their relative location is fixed or can take up to only four solutions.
Year
DOI
Venue
1997
10.1109/70.585907
IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION
Keywords
Field
DocType
contacts, geometric constraints, polygons
Motion planning,Polygon,Algorithm design,General algorithm,Control theory,Computational geometry,Constraint analysis,Algorithm,Geometry,Completeness (statistics),Mathematics
Journal
Volume
Issue
ISSN
13
3
1042-296X
Citations 
PageRank 
References 
22
1.77
15
Authors
2
Name
Order
Citations
PageRank
Jing Xiao1221.77
Lixin Zhang257145.96