The Robotics Institute

Carnegie Mellon Robotics Institute

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.

Abstract

This paper explores a method of manipulating a planar rigid part on a conveyor belt using a robot with just one joint. This approach has the potential of offering a simple and flexible method for feeding parts in industrial automation applications. In this paper we develop a model of this system and of a variation which requires no sensing. We have been able to characterize these systems and to prove that they can serve as parts feeding devices for planar polygonal parts. We present the planners for these systems and describe our implementations.

Notes

Associated Project(s): Factory Automation

Text Reference

Srinivas Akella, Wesley Huang, Kevin Lynch, and Matthew T. Mason, "Parts Feeding on a Conveyor with a One Joint Robot," Algorithmica (Special issue on Robotics), , November, 2000

BibTeX Reference

@article{Akella_2000_2880,
   author = "Srinivas Akella and Wesley Huang and Kevin Lynch and Matthew T. Mason",
   title = "Parts Feeding on a Conveyor with a One Joint Robot",
   journal = "Algorithmica (Special issue on Robotics)",
   month = "November",
   year = "2000",
}

The Robotics Institute

Menu