Elimination of unnecessary contact states in contact state graphs for robotic assembly tasks

Kwak, Sung Jo, Hasegawa, Tsutomu, Martinez Mozos, Oscar and Chung, Seong Youb (2014) Elimination of unnecessary contact states in contact state graphs for robotic assembly tasks. International Journal of Advanced Manufacturing Technology, 70 (9-12). pp. 1683-1697. ISSN 0268-3768

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Item Type:Article
Item Status:Live Archive


It needs much computation to develop a contact state graph and find an assembly sequence because polyhedral objects consist of a lot of vertices, edges, and faces. In this paper, we propose a new method to eliminate unnecessary contact states in the contact state graph corresponding to a robotic assembly task. In our method, the faces of polyhedral objects are triangulated, and the adjacency of each vertex, edge, and triangle between an initial contact state and a target contact state is defined. Then, this adjacency is used to create contact state graphs at different priorities. When a contact state graph is finished at a higher priority, a lot of unnecessary contact states can be eliminated because the contact state graph already includes at least one realizable assembly sequence. Our priority-based method is compared with a face-based method through statistically analyzing the contact state graphs obtained from different assembly tasks. Finally, our method results in a significant improvement in the final performance.

Keywords:manipulation, Manufacturing Techniques, Robotics, Assembly task, Automatic modeling, Contact state graph, Robotic assembly, NotOAChecked
Subjects:H Engineering > H671 Robotics
H Engineering > H700 Production and Manufacturing Engineering
Divisions:College of Science > School of Computer Science
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ID Code:14706
Deposited On:19 Aug 2014 10:11

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