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RI | Publications | Sensorless Parts Orienting with a One Joint Manipulator
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Sensorless Parts Orienting with a One Joint Manipulator
S. Akella, W. Huang, K. Lynch, and M. Mason
IEEE International Conference on Robotics and Automation (ICRA '97), Vol. 3, April, 1997, pp. 2383 - 2390.
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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 lab/group: Manipulation Lab
Associated project: Factory Automation
| Text Reference |
S. Akella, W. Huang, K. Lynch, and M. Mason, "Sensorless Parts Orienting with a One Joint Manipulator," IEEE International Conference on Robotics and Automation (ICRA '97), Vol. 3, April, 1997, pp. 2383 - 2390.
| BibTeX Reference |
@inproceedings{Akella_1997_2116,
author = "Srinivas Akella and Wesley Huang and Kevin Lynch and Matthew Mason",
title = "Sensorless Parts Orienting with a One Joint Manipulator",
booktitle = "IEEE International Conference on Robotics and Automation (ICRA '97)",
month = "April",
year = "1997",
volume = "3",
pages = "2383 - 2390"
}