Orienting Parts With Shape Variation

Parts Orienting with Shape Uncertainty

Parts manufactured to tolerances have shape variations. Most work in robotic manipulation assumes that part shape does not vary. Orienting devices such as bowl feeders frequently fail due to variations in part shape. In this paper we develop techniques to orient parts with shape uncertainty. We present a shape uncertainty model and describe the nondeterminism in parts orienting that arises from...

Orienting Toleranced Polygonal Parts 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 often 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...

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 often 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...

Parts Orienting with Partial Sensor Information

Parts orienting, the process of bringing parts in initially unknown orientations to a goal orientation, is an important aspect of automated assembly. Bowl feeders used in industry rely on a sequence of mechanical operations, without using sensors, to orient parts. In our work, we use partial information sensors along with mechanical operations to eliminate uncertainty in part orientation. We sh...

Orienting Polyhedral Parts by Pushing