Enumeration of Contact Geometries for Kinematic Registration Using Tactile Sensing Fixtures

[+] Author and Article Information
Walter W. Nederbragt

 Lawrence Livermore National Laboratory, Livermore, California 94550nederbragt1@llnl.gov

Bahram Ravani1

Department of Mechanical & Aeronautical Engineering, University of California, Davis, California 95616bravani@ucdavis.edu


To whom correspondence should be addressed.

J. Mech. Des 128(1), 34-45 (May 05, 2005) (12 pages) doi:10.1115/1.2118731 History: Received October 08, 2004; Revised May 05, 2005

This paper uses group theory for enumeration of contacts between geometric elements necessary for kinematic registration or part referencing in robotics. The results are applied to type synthesis of tactile sensing mechanical fixtures. Kinematic registration is an important step in robot calibration and in data driven automation. Although the scope of the paper is limited to geometric contacts involving points, lines, planar surfaces, cylindrical surfaces, and spherical surfaces, the techniques developed are general and can be applied to other geometric features and non-tactile sensing elements used in robotic calibration and part referencing.

Copyright © 2006 by American Society of Mechanical Engineers
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Figure 2

A point-to-mobile planar surface contact

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Figure 1

The use of a cubical reference fixture

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Figure 3

A spherical surface to spherical surface contact

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Figure 4

Contact constraints between sensor frame and fixture frame

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Figure 5

A cylindrical mobile surface in contact with four mobile lines

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Figure 6

Group representation dependence on the location of the coordinate system

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Figure 7

Three points on a sphere gives two possible solutions

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Figure 8

Fixture example 1

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Figure 9

Fixture example 2

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Figure 10

Mechanical Design of Fixture of Example 2

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Figure 11

Analysis of the coordinate frame attached to the plane-cylinder fixture



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