A Motion Planning Algorithm for Convex Polyhedra in Contact Under Translation and Rotation
نویسندگان
چکیده
Motion of objects in contact plays an important role in the mechanical assembly by manipulators. This paper presents a motion planning algorithm for the case that a convex polyhedron translates and rotates in contact with another one. The rotation of the moving one is parameterized by the special unitary 2 2 matrix to have the algebraic representation of the contact conditions between the polyhedra. We show an algorithm to determine a sequence of the topological contact states whose asymptotic time complexity is optimal, and also give an algorithm to have `the roadmap' by solving the algebraic equations. The principle idea is `to have the easier algebraic problem by the better geometric formulation'. The algorithms are implemented and examples will be shown.
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