Planning Motions of Polyhedral Parts by Rolling
Copyright policy )Planning Motions of Polyhedral Parts by Rolling
For the purpose of robotic manipulation, the problem of displacing and reorienting a polyhedral part with piecewise smooth surface rolling on a plane is considered. The corresponding theoretical results are reviewed, and a polynomial time algorithm is proposed allowing the planning of such motions. The effects of finite accuracy in representing problem data, as well as the operational and computational complexity of the proposed method is considered.
- University of Pisa Italy
computational complexity, Artificial intelligence for robotics, Analysis of algorithms and problem complexity, reorienting a polyhedral part, smooth surface rolling on a plane, polynomial time algorithm, Automated systems (robots, etc.) in control theory, robotic manipulation, motion planning, Kinematics of mechanisms and robots
computational complexity, Artificial intelligence for robotics, Analysis of algorithms and problem complexity, reorienting a polyhedral part, smooth surface rolling on a plane, polynomial time algorithm, Automated systems (robots, etc.) in control theory, robotic manipulation, motion planning, Kinematics of mechanisms and robots
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