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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
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