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Summary: Planar Manipulation on a Conveyor
with a One Joint Robot
Srinivas Akella Wesley H. Huang Kevin M. Lynch Matthew T. Mason
The Robotics Institute
Carnegie Mellon University
Abstract
This paper explores a method of manipulatinga planar
rigid body on a conveyor belt using a robot with just
one joint. This approach has the potentialof offering a
simple and flexible method for feeding parts in indus-
trial automation applications. In this paper we outline
our approach, develop some of the theoretical proper-
ties, present a planner for the robot, and describe an
initial implementation.
1 Introduction
The most straightforward approach to planar manipu-
lation is to use a rigid grasp and a robot with at least
three joints, corresponding to the three motion free-
doms of a planar rigid object. But three joints are not
really necessary to manipulate an object in the plane.
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