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Sensorless Parts Feeding with a One Joint Robot Srinivas Akella, The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA
 

Summary: Sensorless Parts Feeding with a One Joint Robot
Srinivas Akella, The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA
Wesley H. Huang, The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA
Kevin M. Lynch, Biorobotics Division, Mechanical Engineering Laboratory, Tsukuba, Japan
Matthew T. Mason, The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA
A rigid object in the plane has three degrees of mo-
tion freedom, but it does not follow that a planar ma-
nipulator must have three independently actuated and
controlled joints. As previous work has demonstrated,
there are a variety of methods to perform manipulation
tasks using fewer actuators than motion freedoms. The
method explored in this paper is to use a single joint
robot to push an object on a constant speed conveyor
belt. This paper summarizes the approach, previously
described in [3], and extends the approach to include the
problem of orienting polygonal objects without a sensor.
1 Introduction
This paper describes an approach to planar manipu-
lation called "1JOC" (One Joint Over Conveyor, pro-
nounced "one jock") [3]. Initially the approach was

  

Source: Akella, Srinivas - Department of Computer Science, University of North Carolina, Charlotte
Lynch, Kevin - Department of Mechanical Engineering, Northwestern University

 

Collections: Computer Technologies and Information Sciences; Engineering