Shahram Payandeh Flexible Part Orienting Using Rotation Direction and Force Measurements
نویسندگان
چکیده
This paper presents a novel sensor-based flexible part orienting system based on the commonly available force/torque sensor. The system orients planar parts arriving on a conveyor belt via a sequence parts into a completed item. Stage (i) is often done with a vibratory bowl feeder. Bowl feeders are a widely accepted method of orienting parts; however, they must be manually redesigned for each new part, a process that requires a certain degree of experience (Boothroyd, Poli, and Murch 1982). A long-term goal of the part-orienting research community is the design of a flexible part feeder that can orient a large vaThe International Journal of Robotics Research Vol. 20, No. 6, June 2001, pp. 484-505, ©2001 Sage Publications
منابع مشابه
Flexible Part Orienting Using Rotation Direction and Force Measurements
This paper presents a novel sensor-based flexible part orienting system based around the commonly available force/torque sensor. The system orients planar parts arriving on a conveyor belt via a sequence of pushing operations with a force/torque sensor equipped fence. A method to use the raw force data from the sensor to infer the rotation direction of the part is presented. Algorithms utilisin...
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