Surface-based geometric modeling using task-oriented teaching trees

In robot motion planning, geometric modeling plays an important role. Generally the shapes of objects such as factory products can be stored in a computer software database, so the elements that need to be decided are positions and orientations. In this paper surface-based geometric modeling using a task-oriented teaching tree is proposed. In this modeling, combinations of surfaces for deciding positions and orientations of objects are represented in a depth-first tree based on a kind of task. Therefore, the operator can choose easily one combination out of several compared with the obtained data. Moreover a geometric model of the object suited to the manipulation task can be obtained.

Authors

• Akira Nakamura
• Tsukasa Ogasawara
• Hideo Tsukune
• Masaki Oshima

Keywords

• Solid modeling
• Education
• Shape
• Laser modes
• Intelligent robots
• Motion planning
• Production facilities
• Robotic assembly
• Service robots
• Robotics and automation
• Geometric Model
• Path Planning
• Manipulation Tasks
• Object-oriented
• Robot Motion
• Kinds Of Tasks
• Industrial Production
• Ellipsoid
• Unit Vector
• Scan Range
• Example Of Model
• Surface Elements
• Three-dimensional Data
• Specular Reflection
• Surface Data
• Number Of Surfaces
• Assembly Of Parts
• Undesirable Conditions
• Combined Surface
• Laser Pointer
• Motion Primitives
• Linearly Independent
• Unfavorable Situation