Parallel orientation of polygonal parts
Viktor K. Prasanna, Anil S. Rao · IEEE Transactions on Robotics and Automation · 1992
Manufacturing processes often produce a stream of parts that must be oriented precisely before assembly. Given the description of an n-sided planar polygonal part, K.Y. Goldberg (Ph.D. Diss., Carnegie-Mellon Univ., 1990) presents an O(n/sup 3/) serial algorithm that produces an optimal sequence of gripper actions to orient the part up to symmetry using a sensorless parallel jaw gripper. The authors consider an online version of this problem and given an O(n) parallel solution for it on an n*n mesh-connected computer.>