|
Abstract: Robot assembly states can be described by contact states
between two assembly objects. In the motion direction, the minimum
distances and angles between three basic kinds of contact pairs with
boundary components of convex polyhedron are obtained. Some formulas are
usable. The method can be used to judge contact states in the next
moment. The example of a triple peg-in-hole verifies the analyses.
Key words: Assembly Contact states Convex polyhedron
Boundary components
CLC No: TP242
国家863高技术计划(863-512-98-04)和国家自然科学基金(50305021)资助项目. Received 20040430,
received in revised form 20041010
|