Sensorless Parts Orienting with a One-Joint Manipulator

Srinivas Akella, Wesley H. Huang, Kevin M. Lynch, and Matthew T. Mason
Proceedings of the 1997 IEEE International Conference on Robotics and Automation
Volume 3, Pages 2383-90.
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Abstract

This paper explores a sensorless technique for orienting planar parts. We follow an approach described in earlier papers ([Akella et al. 95] and [Akella et al. 96]) 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.

BibTeX entry

@STRING{icra = "IEEE International Conference on Robotics and Automation"}
@InProceedings{Akella97b,
  author = 	 {Srinivas Akella and Wesley H. Huang and Kevin M. Lynch and
		 Matthew T. Mason},
  title = 	 {Sensorless Parts Orienting with a One-Joint Manipulator},
  booktitle =	 icra,
  pages =	 {2383--2390},
  year =	 1997,
  volume =	 3
}