Autonomous Measurement of Position Vectors and Unit Normal Vectors of Discrete Points on Unknown Object

1997 ◽  
pp. 521-527
Author(s):  
Yu Suzuki ◽  
Hideki Aoyama
2012 ◽  
Vol 542-543 ◽  
pp. 537-540
Author(s):  
Ying Yue ◽  
Jun Jia

This paper presents an algorithm for the offsetting of NURBS curve/surface. First the unit normal vectors of the progenitor NURBS curve/surface is computed precisely, then the offset curve/surface can be obtained by offsetting the progenitor curve/surface in the normal vector direction with the required distance. Considerable extra computational time can be saved, especially when they are to be offset by several times. As the method successfully computes the unit normal vector of the progenitors, the offset error of this method is zero. The method can also be generalized to other degree NURBS curve/surface.


2014 ◽  
Vol 945-949 ◽  
pp. 111-114
Author(s):  
Ying Yue

This paper presents an algorithm for tool path offsetting based on NURBS surface. First the progenitor free surface is fitted with a bi-cubic NURBS surface and the unit normal vectors of the NURBS surface is computed precisely, then the offset surface can be obtained by offsetting the NURBS surface in the normal vector direction with the required distance. Considerable extra computational time can be saved, especially when they are to be offset by several times. As the method successfully computes the unit normal vector of the progenitors, the offset error of this method is zero. The method can also be generalized to other degree NURBS surface, and it can improve the machining accuracy of the surface.


Author(s):  
Sakiko Yano ◽  
Hideki Aoyama

Free-form surfaces are useful for modeling the external shape of industrial products but designers are still facing difficulty in designing high-quality aesthetic surfaces because commercial CAD systems currently available lack the required performance to support their design work. This has therefore led to the increasing need for design-aiding modeling systems to enhance the efficiency of high quality surface design processes. This paper proposes a method of redesigning aesthetic surface shapes by controlling unit normal vectors on the surface and discusses a fundamental system constructed based on the proposed technique. Attempts were also made to construct the required character lines using the proposed technique. Additionally, the validity of the proposed technique was also verified. In the surface evaluation stage of existing product design processes, the highlight-check method using highlight lines on the surface of a model is the most common and popular evaluation method even though methods using curvature and isophote have been proposed. With this method, the unit normal vectors on the surface are controlled by highlight lines. A highlight line is defined as a curve which consists of points with a constant angle to the right reflective direction when a beam shines on an arbitrary point on a surface. With this highlight-check system, highlight lines are displayed on the screen and evaluated by the designer. When highlight lines are faulty or those required by the designer cannot be obtained, the designer just needs to enter the required highlight lines manually by drawing with a pen tablet on LCD interactive display to improve surface quality. Usually, the system takes input highlight line information as unit normal vector information, and constructs the required surface shape using that information.


2020 ◽  
Vol 19 ◽  

In this paper, we define a relativeMinkowski normal plane and relative tangent vector TM:We construct a new relative S-frame (Shnoda-Saad frame) of regular spacelike curves on timelike surfaces. It depends only on the curve lies on the surface, Euclidean and Minkowski unit normal vectors. Also, we define S-curve according to this frame with some related theorems.


2016 ◽  
Vol 13 (03) ◽  
pp. 1650008 ◽  
Author(s):  
Haiwei Gu ◽  
Shaowei Fan ◽  
Hua Zong ◽  
Minghe Jin ◽  
Hong Liu

In this paper, the exploration and recognition in unknown object perception by robot hand is discussed. Inspired by the touch and exploration of human hand, a haptic exploration strategy for multi-fingered robot hand is proposed. Based on the observations from human experiments, the proposed strategy can be used to guide the robot hand to plan a series of movements to get tactile information from different unknown objects, with the precondition of avoiding unexpected collisions with the objects. A recognition approach is then presented to recognize object shapes based on the tactile point data collected by the strategy. Geometric feature vectors are extracted from tactile point locations and normal vectors after clustering, and the object shapes are recognized by the random forests classifier. Simulations and experiments results show that the exploration strategy can be used to guide the robot to gather tactile information from unknown object automatically, and the recognition approach is effective and robust in object shape recognition work. This framework provides a sensible solution for robot unknown object perception problem, which is suitable for the multi-fingered robot hand with low-resolution tactile sensors.


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