Using Partial Sensor Information to Orient Parts
نویسندگان
چکیده
Parts orienting, the process of bringing parts in initially unknown orientations to a goal orientation, is an important aspect of automated assembly. The most common industrial orienting systems are vibratory bowl feeders, which use the shape and mass properties of parts to orient them. Bowl feeders rely on a sequence of mechanical operations and typically do not use sensors. In this paper, we describe the use of partial information sensors along with a sequence of pushing operations to eliminate uncertainty in the orientations of parts. We characterize the shorter execution lengths of sensor-based plans and show that sensor-based plans are more powerful than sensorless plans in that they can bring a larger class of parts to distinct
منابع مشابه
Srinivas Akella and Matthew T . Mason Using Partial Sensor Information to Orient Parts
Parts orienting, the process of bringing parts in initially unknown orientations to a goal orientation, is an important aspect of automated assembly. The most common industrial orienting systems are vibratory bowl feeders, which use the shape and mass properties of parts to orient them. Bowl feeders rely on a sequence of mechanical operations and typically do not use sensors. In this paper, we ...
متن کاملMatthew T . Mason Using Partial Sensor Information to Orient Parts
Parts orienting, the process of bringing parts in initially unknown orientations to a goal orientation, is an important aspect of automated assembly. The most common industrial orienting systems are vibratory bowl feeders, which use the shape and mass properties of parts to orient them. Bowl feeders rely on a sequence of mechanical operations and typically do not use sensors. In this paper, we ...
متن کاملParts 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...
متن کاملRobotic Manipulation for Parts Transfer and Orienting: Mechanics, Planning, and Shape Uncertainty
Robots can modify their environment by manipulating objects. To fully exploit this ability, it is important to determine the manipulation capabilities of a given robot. Such characterization in terms of the physics and geometry of the task has important implications for manufacturing applications, where simpler hardware leads to cheaper and more reliable systems. This thesis develops techniques...
متن کاملSensorless parts orienting with a one-joint manipulator
This paper explores a sensorless technique for orienting planar parts. We follow an approach described in earlier papers [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 si...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
- I. J. Robotics Res.
دوره 18 شماره
صفحات -
تاریخ انتشار 1999