Home

About

Advanced Search

Browse by Discipline

Scientific Societies

E-print Alerts

Add E-prints

E-print Network
FAQHELPSITE MAPCONTACT US


  Advanced Search  

 
Sensorless Parts Orienting with a One-Joint Manipulator Srinivas Akella Wesley H. Huang Kevin M. Lynch Matthew T. Mason
 

Summary: Sensorless Parts Orienting with a One-Joint Manipulator
Srinivas Akella Wesley H. Huang Kevin M. Lynch Matthew T. Mason
The Beckman Institute The Robotics Institute Biorobotics Division The Robotics Institute
University of Illinois Carnegie Mellon University Mechanical Engineering Lab Carnegie Mellon University
Urbana-Champaign, IL Pittsburgh, PA Tsukuba, Japan Pittsburgh, PA
Figure 1: The Adept Flex Feeder System. A SCARA robot picks
parts off the middle of three conveyors. These three conveyors,
along with an elevator bucket, circulate parts; an overhead camera
looks down on the back-lit middle conveyor to determine the posi-
tion and orientation of parts.
Abstract
This paper explores a sensorless technique for orienting
planar parts. We follow an approach described in earlier pa-
pers [3, 4] called 1JOC for One Joint Over Conveyor, which
can perform planar manipulation using a single controlled
joint in combination with a constant-velocity conveyor. Our
previous work demonstrated that the 1JOC approach can
orient and feed planar polygonal parts, given a singulated
part in a known initial location. This paper shows that a
variation called the Sensorless 1JOC can orient and feed

  

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

 

Collections: Engineering; Computer Technologies and Information Sciences