Home

About

Advanced Search

Browse by Discipline

Scientific Societies

E-print Alerts

Add E-prints

E-print Network
FAQHELPSITE MAPCONTACT US


  Advanced Search  

 
Parts Orienting by Push-aligning Srinivas Akella Matthew T. Mason
 

Summary: Parts Orienting by Push-aligning
Srinivas Akella Matthew T. Mason
The Robotics Institute
Carnegie Mellon University
Pittsburgh, PA 15213, USA
Abstract
Programmable parts orienting is an important capa-
bility for exible automation systems. Here we study
how a part grasped in an unknown orientation by a
force-controlled robot can be oriented by a sequence
of push-align actions against a wall followed by sen-
sor measurements of the distance from the grasp point
to the wall. This paper concentrates on three issues:
planning a sequence of actions to orient a part, explor-
ing design changes that enable the part to be oriented
in fewer steps, and the e ect of shape uncertainty, due
to manufacturing tolerances, on part orientability.
1 Introduction
Programmable automation is important in achiev-
ing exible manufacturing and shortening product de-

  

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

 

Collections: Engineering; Computer Technologies and Information Sciences