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Carnegie Mellon Robotics Institute

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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.

Notes

Associated Project(s): Factory Automation

Text Reference

Srinivas Akella, Wesley Huang, Kevin Lynch, and Matthew T. Mason, "Sensorless Parts Orienting with a One Joint Manipulator," IEEE International Conference on Robotics and Automation (ICRA '97), April, 1997, pp. 2383 - 2390.

BibTeX Reference

@inproceedings{Akella_1997_2116,
   author = "Srinivas Akella and Wesley Huang and Kevin Lynch and Matthew T. Mason",
   title = "Sensorless Parts Orienting with a One Joint Manipulator",
   booktitle = "IEEE International Conference on Robotics and Automation (ICRA '97)",
   pages = "2383 - 2390",
   month = "April",
   year = "1997",
   volume = "3",
}

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