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Parts Orienting with Partial Sensor Information Srinivas Akella Matthew T. Mason
 

Summary: Parts Orienting with Partial Sensor Information
Srinivas Akella Matthew T. Mason
Beckman Institute School of Computer Science
University of Illinois, Urbana-Champaign Carnegie Mellon University
Urbana, IL 61801 Pittsburgh, PA 15213
Abstract
Parts orienting, the process of bringing parts in initially
unknown orientations to a goal orientation, is an important
aspect of automated assembly. Bowl feeders used in industry
rely on a sequence of mechanical operations, without using
sensors, to orient parts. In our work, we use partial infor-
mation sensors along with mechanical operations to elim-
inate uncertainty in part orientation. We show that sensor-
based orienting plans need O(m) operations, where mis the
maximum number of states with the same sensor value. We
characterize the relation between part shape, orientability,
and recognizability to identify conditions under which a sin-
gle plan can orient and recognize multiple part shapes. We
describe implemented planners and experiments to demon-
strate generated plans.

  

Source: Akella, Srinivas - Department of Computer Science, University of North Carolina, Charlotte

 

Collections: Engineering; Computer Technologies and Information Sciences