Enumeration of Contact Geometries for Part Registration in Design of Tactile Sensing Fixtures

Published

January 1, 1999

Author(s)

Walter W. Nederbragt, Bahram Ravani

Abstract

This paper uses group theory for enumeration of contacts between geometric elements necessary for part registration and referencing in robotics. The results applied to type synthesis and design of tactile sensing mechanical fixtures. 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 calibrations and part referencing.

Citation

IEEE Transactions on Robotics and Automation

Pub Type

Journals

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Keywords

contact geometries

Citation

Nederbragt, W. and Ravani, B. (1999), Enumeration of Contact Geometries for Part Registration in Design of Tactile Sensing Fixtures, IEEE Transactions on Robotics and Automation, [online], https://tsapps.nist.gov/publication/get_pdf.cfm?pub_id=821559 (Accessed October 21, 2025)