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Generating Stochastic Plans for a Programmable Parts Feeder

Kenneth Y. Goldberg, Matthew T. Mason and Michael Erdmann
Conference Paper, IEEE International Conference on Robotics and Automation, Vol. 1, pp. 352 - 359, April, 1991

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Abstract

A programmable parts feeder, a mechanism that can be reprogrammed to handle differently shaped parts, is discussed. The authors present a planning algorithm that accepts an n-sided polygonal part as input and, in time O(n/sup 2/), generates a program (plan) for the feeder that maximizes expected feedrate. They have implemented the planner and verified some of the resulting plans in the laboratory. This work illustrates a stochastic framework for manipulation planning.

BibTeX Reference
@conference{Goldberg-1991-13230,
title = {Generating Stochastic Plans for a Programmable Parts Feeder},
author = {Kenneth Y. Goldberg and Matthew T. Mason and Michael Erdmann},
booktitle = {IEEE International Conference on Robotics and Automation},
month = {April},
year = {1991},
volume = {1},
pages = {352 - 359},
}
2017-09-13T10:52:17+00:00