PLANNING ROBOTIC MANIPULATION STRATEGIES FOR SLIDING OBJECTS.

M. A. Peshkin*, A. C. Sanderson

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

17 Scopus citations

Abstract

A configuration map is defined and computed, mapping all configurations of a part before an elementary manipulative operation to all possible outcomes. Configuration maps provide a basis for planning the operation sequences which occur in parts-feeder designs or in more general sensorless manipulation strategies for robots. Sequences of elementary operations are represented as matrix-products of configuration maps for the individual operations. Efficient methods for searching the space of all operations are described. As an example, a class of parts feeders based on a conveyor belt is considered. Parts arrive on the belt in random initial orientations. By interacting with a series of stationary fences angled across the belt, the parts are aligned into a unique final orientation independent of their initial orientation. The planning problem is to create (given the shape of part) a sequence of fences which will align that part. The automated design of such parts feeders is demonstrated.

Original languageEnglish (US)
Title of host publicationUnknown Host Publication Title
PublisherIEEE
Pages696-701
Number of pages6
ISBN (Print)0818607874
StatePublished - Jan 1 1987

ASJC Scopus subject areas

  • Engineering(all)

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  • Cite this

    Peshkin, M. A., & Sanderson, A. C. (1987). PLANNING ROBOTIC MANIPULATION STRATEGIES FOR SLIDING OBJECTS. In Unknown Host Publication Title (pp. 696-701). IEEE.