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Parts Feeding on a Conveyor with a One Joint Robot
S. Akella, W. Huang, K. Lynch, and M. Mason
Algorithmica (Special issue on Robotics), November, 2000.

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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.

Associated lab/group: Manipulation Lab
Associated project: Factory Automation

S. Akella, W. Huang, K. Lynch, and M. Mason, "Parts Feeding on a Conveyor with a One Joint Robot," Algorithmica (Special issue on Robotics), November, 2000.

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