Orienting polyhedral parts by pushing

Orienting Polyhedral Parts by Pushing

Parts Orienting by Push-Aligning

Programmable parts orienting is an important capability 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 sensor measurements of the distance from the grasp point to the wall. This paper concentrates on three issues: planning a sequence of actions to...

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...

Pushing Vertices and Orienting Edges

William F. Klostermeyer Dept. Statistics and Computer Science West Virginia University Morgantown, WV 26506-6330 e-mail: [email protected] ABSTRACT A directed graph operation called pushing a vertex is studied. When a vertex is pushed, the orientation of each of its incident edges is reversed. We consider the problems of pushing vertices so as to produce strongly connected, semi-connected, and acy...

Orienting Parts by Inside-out Pulling

A common task in automated manufacturing processes is that of orienting (or feeding) parts prior to assembly. In this paper, we propose a new type of feeder. We consider sensorless orientation of polygonal parts with elevated edges by pull actions with an overhead finger. We show that any asymmetric convex polygonal part can be oriented by a sequence of pull operations. We give an O(n) algorith...