Sensorless Parts Feeding with a One Joint Robot

Srinivas Akella, Wesley H. Huang, Kevin M. Lynch, and Matthew T. Mason
In "Robotics Research: The Seventh International Symposium,"
Edited by Georges Giralt and Gerhard Hirzinger
Springer-Verlag, 1996, Pages 265-76 .
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Abstract

This paper explores a method of manipulating a planar rigid body on a conveyor belt using a robot with just one joint. This approach has the potential of offering a simple and flexible method for feeding parts in industrial automation applications. In this paper we outline our approach, develop some of the theoretical properties, present a planner for the robot, and describe an initial implementation.

BibTeX entry

@STRING{isrr7 = "Robotics Research: The Seventh International Symposium"}
@InCollection{Akella96a,
  author =	"Srinivas Akella and Wesley H. Huang and Kevin M. Lynch and
		Matthew T. Mason",
  title	=	"Planar Manipulation on a Conveyor with a One Joint Robot",
  booktitle =	isrr7,
  publisher =	 {Springer-Verlag},
  pages =        {265--276},
  year =	 1996,
  editor =	 {Georges Giralt and Gerhard Hirzinger}
}