A motion planning algorithm of polyhedra in contact for mechanical assembly

Abstract

A motion planning of objects in contact is one of the most important technologies to realize autonomous mechanical assembly by robot manipulators. This paper studies a motion planning of polyhedra in contact. We show a complete algorithm in the case that a convex polyhedron translates and rotates in contact with another one. We also discuss what happens in the nonconvex cases. The principle idea of the study is that astute geometric formulations make the algebraic problem easier to solve.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>