Sensorless parts orienting with a one-joint manipulator

Srinivas Akella; Wesley H. Huang; Kevin M. Lynch; Matthew T. Mason

Sensorless parts orienting with a one-joint manipulator

Srinivas Akella^*, Wesley H. Huang, Kevin M. Lynch, Matthew T. Mason

^*Corresponding author for this work

Mechanical Engineering

Research output: Contribution to journal › Conference article › peer-review

25 Scopus citations

Abstract

This paper explores a sensorless technique for orienting planar parts. We follow an approach described in earlier papers 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 singulated part in a known initial location. This paper shows that a variation called the Sensorless 1JOC can orient and feed polygonal parts up to symmetries in the underlying mechanics, without knowing the initial location and without sensors.

Original language	English (US)
Pages (from-to)	2383-2390
Number of pages	8
Journal	Proceedings - IEEE International Conference on Robotics and Automation
Volume	3
State	Published - Jan 1 1997
Event	Proceedings of the 1997 IEEE International Conference on Robotics and Automation, ICRA. Part 3 (of 4) - Albuquerque, NM, USA Duration: Apr 20 1997 → Apr 25 1997

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

Cite this

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abstract = "This paper explores a sensorless technique for orienting planar parts. We follow an approach described in earlier papers 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 singulated part in a known initial location. This paper shows that a variation called the Sensorless 1JOC can orient and feed polygonal parts up to symmetries in the underlying mechanics, without knowing the initial location and without sensors.",

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year = "1997",

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AU - Huang, Wesley H.

AU - Lynch, Kevin M.

AU - Mason, Matthew T.

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Y1 - 1997/1/1

N2 - This paper explores a sensorless technique for orienting planar parts. We follow an approach described in earlier papers 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 singulated part in a known initial location. This paper shows that a variation called the Sensorless 1JOC can orient and feed polygonal parts up to symmetries in the underlying mechanics, without knowing the initial location and without sensors.

AB - This paper explores a sensorless technique for orienting planar parts. We follow an approach described in earlier papers 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 singulated part in a known initial location. This paper shows that a variation called the Sensorless 1JOC can orient and feed polygonal parts up to symmetries in the underlying mechanics, without knowing the initial location and without sensors.

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M3 - Conference article

AN - SCOPUS:0030652499

SN - 1050-4729

VL - 3

SP - 2383

EP - 2390

JO - Proceedings - IEEE International Conference on Robotics and Automation

JF - Proceedings - IEEE International Conference on Robotics and Automation

T2 - Proceedings of the 1997 IEEE International Conference on Robotics and Automation, ICRA. Part 3 (of 4)

Y2 - 20 April 1997 through 25 April 1997

ER -

Sensorless parts orienting with a one-joint manipulator

Abstract

ASJC Scopus subject areas

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