Sensorless Parts Orienting with a One Joint Manipulator

Srinivas Akella, Wesley Huang, Kevin Lynch and Matthew T. Mason
Conference Paper, IEEE International Conference on Robotics and Automation (ICRA '97), Vol. 3, pp. 2383 - 2390, April, 1997

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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.

author = {Srinivas Akella and Wesley Huang and Kevin Lynch and Matthew T. Mason},
title = {Sensorless Parts Orienting with a One Joint Manipulator},
booktitle = {IEEE International Conference on Robotics and Automation (ICRA '97)},
year = {1997},
month = {April},
volume = {3},
pages = {2383 - 2390},
} 2017-09-13T10:50:07-04:00