Second Order Approximation of Possible Local Displacement for Curve Objects
نویسندگان
چکیده
Most methods for assembly tasks calculate possible local displacement of objects by the screw theory or its equivalence. The calculation is the first-order displacement approximation. Curvature information is not considered, so they can be applied to only polyhedral objects. In this paper, we propose a method to formulate and calculate the second-order approximation of possible local displacement. From our experiment, our method correctly calculated the displacement of curve objects, while most conventional methods failed.
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Calculating possible local displacement of curve objects using improved screw theory
Various methods to recognize assembly tasks using possible local displacement of objects have been proposed. To calculate this displacement, the screw theory is employed. It is equivalent to the first order Taylor expansion of the displacement. However, such methods can treat polyhedral objects only. Because the screw theory cannot treat curvature information of objects. In this paper, we propo...
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