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Srinivas Akella Department of Computer Science

Summary: Srinivas Akella
Department of Computer Science
Rensselaer Polytechnic Institute
Troy, New York 12180, USA
Matthew T. Mason
School of Computer Science
Carnegie Mellon University
Pittsburgh, Pennsylvania 15213, USA
Orienting Toleranced
Polygonal Parts
Parts manufactured to tolerances have variations in shape. Most
previous work in robotic manipulation assumes that parts do not
have shape variations. Orienting devices such as bowl feeders of-
ten fail due to variations in part shape. We study the effects of
uncertainty in part shape on orienting to develop systems that can
orient toleranced polygonal parts. We present a tolerance model
in which the part center of mass and vertices lie in circular uncer-
tainty zones around their nominal positions. The variations in part


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


Collections: Engineering; Computer Technologies and Information Sciences