Sensorless Parts Orienting with a One Joint Manipulator
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, Vol. 3, pp. 2383 - 2390, April, 1997
Abstract
This paper explores a sensorless technique for orienting planar parts. We follow an approach described in the ours earlier papers (1995), called one joint over conveyor (1JOC), which can perform planar manipulation using a single controlled joint in combination with a constant-velocity conveyor. Our previous work demonstrated that the IJOC approach can orient and feed planar polygonal parts, given a singulated part in a known initial location. This paper shows that a variation called the sensorless IJOC can orient and feed polygonal parts up to symmetries in the underlying mechanics, without knowing the initial location and without sensors.
BibTeX
@conference{Akella-1997-14357,author = {Srinivas Akella and Wesley Huang and Kevin Lynch and Matthew T. Mason},
title = {Sensorless Parts Orienting with a One Joint Manipulator},
booktitle = {Proceedings of (ICRA) International Conference on Robotics and Automation},
year = {1997},
month = {April},
volume = {3},
pages = {2383 - 2390},
}
Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.