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Carnegie Mellon Robotics Institute

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Abstract

Programmable parts orienting is an important capability for flexible automation systems. Here we study how a part grasped in an unknown orientation by a force-controlled robot can be oriented by a sequence of push-align actions against a wall followed by sensor measurements of the distance from the grasp point to the wall. This paper concentrates on three issues: planning a sequence of actions to orient a part, exploring design changes that enable the part to be oriented in fewer steps, and the effect of shape uncertainty, due to manufacturing tolerances, on part orientability.

Notes

Text Reference

Srinivas Akella and Matthew T. Mason, "Parts Orienting by Push-Aligning," 1995 IEEE International Conference on Robotics and Automation, May, 1995, pp. 414--420.

BibTeX Reference

@inproceedings{Akella_1995_1498,
   author = "Srinivas Akella and Matthew T. Mason",
   title = "Parts Orienting by Push-Aligning",
   booktitle = "1995 IEEE International Conference on Robotics and Automation",
   pages = "414--420",
   month = "May",
   year = "1995",
   volume = "1",
}

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