Sensorless Parts Feeding with a One Joint Robot - Robotics Institute Carnegie Mellon University

Sensorless Parts Feeding with a One Joint Robot

Workshop Paper, 2nd International Workshop on the Algorithmic Fundamentals of Robotics (WAFR '96), pp. 229 - 237, July, 1996

Abstract

This paper describes an approach to planar manipu­ lation called “1JOC” (One Joint Over Conveyor, pro­ nounced “one jock”) [3]. Initially the approach was conceived as a variation on the Adept Flex Feeder (see Figure 1), which is used to feed parts in automated factories. The Flex Feeder uses a system of conveyors to recirculate parts, presenting them in random ori­ entation to a camera and robotic manipulator. Those parts that are in a graspable configuration may then be picked up by the robot and assembled into a product, placed in a pallet, or otherwise processed.

BibTeX

@workshop{Akella-1996-16293,
author = {Srinivas Akella and Wesley Huang and Kevin Lynch and Matthew T. Mason},
title = {Sensorless Parts Feeding with a One Joint Robot},
booktitle = {Proceedings of 2nd International Workshop on the Algorithmic Fundamentals of Robotics (WAFR '96)},
year = {1996},
month = {July},
pages = {229 - 237},
}