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Parts Orienting by Push-Aligning

Srinivas Akella and Matthew T. Mason
Conference Paper, 1995 IEEE International Conference on Robotics and Automation, Vol. 1, pp. 414-420, May, 1995

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Programmable parts orienting is an important capability for flexible automation systems. Here we study how a part grasped in an unknown orientation by a force-controlled robot can be oriented by a sequence of push-align actions against a wall followed by sensor measurements of the distance from the grasp point to the wall. This paper concentrates on three issues: planning a sequence of actions to orient a part, exploring design changes that enable the part to be oriented in fewer steps, and the effect of shape uncertainty, due to manufacturing tolerances, on part orientability.

BibTeX Reference
title = {Parts Orienting by Push-Aligning},
author = {Srinivas Akella and Matthew T. Mason},
booktitle = {1995 IEEE International Conference on Robotics and Automation},
month = {May},
year = {1995},
volume = {1},
pages = {414-420},