Math @ Duke

Publications [#243587] of John Harer
Papers Published
 Agarwal, PK; Collins, AD; Harer, JL, Minimal trap design,
Proceedings  IEEE International Conference on Robotics and Automation, vol. 3
(2001),
pp. 22432248
(last updated on 2017/11/18)
Abstract: This paper addresses the issue of trap design for sensorless automated assembly. First, we present a simple algorithm that determines in O(nm α(nm) log(nm)) time whether an nsided polygonal part will fall through an msided polygonal trap. We then introduce the notion of a minimal trap for a polygonal part, and develop an algorithm to design a family of minimal feeders built from these traps. The algorithm runs in O(kn3+ε) time, where k is the number of stable orientations of P. Moreover, it is complete in the sense that we can always find a feeder, provided that one exists that rejects and supports the appropriate poses of the part.


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