Sensorless parts orienting with a one-joint manipulator

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

*Corresponding author for this work

Research output: Contribution to journalConference articlepeer-review

24 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 languageEnglish (US)
Pages (from-to)2383-2390
Number of pages8
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume3
StatePublished - Jan 1 1997
EventProceedings of the 1997 IEEE International Conference on Robotics and Automation, ICRA. Part 3 (of 4) - Albuquerque, NM, USA
Duration: Apr 20 1997Apr 25 1997

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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