Polyhedral assembly partitioning with infinite translations or The importance of being exact

Efi Fogel, Dan Halperin

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review


Assembly partitioning with an infinite translation is the application of an infinite translation to partition an assembled product into two complementing subsets of parts, referred to as a subassemblies, each treated as a rigid body. We present an exact implementation of an efficient algorithm to obtain such a motion and subassemblies given an assembly of polyhedra in ℝ3. We do not assume general position. Namely, we handle degenerate input, and produce exact results. As often occurs, motions that partition a given assembly or subassembly might be isolated in the infinite space of motions. Any perturbation of the input or of intermediate results, caused by, for example, imprecision, might result with dismissal of valid partitioning-motions. In the extreme case, where there is only a finite number of valid partitioning-motions, no motion may be found, even though such exists. The implementation is based on software components that have been developed and introduced only recently. They paved the way to a complete, efficient, and concise implementation. Additional information is available at http://acg.cs.tau.ac.il/projects/internal-projects/ assembly-partitioning/project-page.

Original languageEnglish
Title of host publicationAlgorithmic Foundations of Robotics VIII - Selected Contributions of the Eighth International Workshop on the Algorithmic Foundations of Robotics
Number of pages16
StatePublished - 2010
Event8th International Workshop on the Algorithmic Foundations of Robotics, WAFR - Guanajuato, Mexico
Duration: 7 Dec 20089 Dec 2008

Publication series

NameSpringer Tracts in Advanced Robotics
ISSN (Print)1610-7438
ISSN (Electronic)1610-742X


Conference8th International Workshop on the Algorithmic Foundations of Robotics, WAFR

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