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首页> 外文期刊>Journal of robotic systems >An Efficient Algorithm for Computing Object Poses in a Modular Fixture or Gripper
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An Efficient Algorithm for Computing Object Poses in a Modular Fixture or Gripper

机译：模块化夹具或夹具中用于计算对象姿势的高效算法

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摘要

Modular or reconfigurable fixtures (or grippers) can reduce manufacturing costs and time remarkably. Computing the poses of a given object in a modular fixture is a basic but tedious technique for designing and using such fixtures. This article presents an efficient algorithm for computing the poses. Starting from a unified expression of the outline of an object, this algorithm searches all matching poses automatically. If the outline consists of straight lines and circular arcs only, all the unknown variables can be calculated sequentially by substituting known (or tentative) data in respective expressions, without solving complicated simultaneous equations. When applied to arbitrary outlines, it involves nothing more than common interpolation. The search process is visualized through diagrams that clearly display the occurrence of matching poses. The computer programs are universally applicable. Only the data of the object outline and the fixture configuration need be input. Case studies show that the programs run fast and yield accurate results.
机译：模块化或可重新配置的固定装置（或夹具）可以显着降低制造成本和时间。在模块化固定装置中计算给定对象的姿势是设计和使用此类固定装置的基本但乏味的技术。本文提出了一种有效的算法来计算姿势。该算法从对象轮廓的统一表达开始，自动搜索所有匹配的姿势。如果轮廓仅由直线和圆弧组成，则可以通过在各个表达式中替换已知（或暂定）数据来依次计算所有未知变量，而无需求解复杂的联立方程。当应用于任意轮廓时，仅涉及普通插值。搜索过程通过图表可视化，该图表清晰显示匹配姿势的出现。计算机程序是普遍适用的。仅需要输入对象轮廓和夹具配置的数据。案例研究表明，这些程序可以快速运行并产生准确的结果。

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