Sensorless Parts Feeding with a One Joint Robot

Srinivas Akella, Wesley H. Huang, Kevin M. Lynch, and Matthew T. Mason
Workshop on the Algorithmic Foundations of Robotics, 1996.
Proceedings published as "Algorithms for Robotic Motion and Manipulation,"
Edited by Jean-Paul Laumond and Mark Overmars
A K Peters, 1997, Pages 229-38.
[pdf]

Abstract

A rigid object in the plane has three degrees of motion freedom, but it does not follow that a planar manipulator must have three independently actuated and controlled joints. As previous work has demonstrated, there are a variety of methods to perform manipulation tasks using fewer actuators than motion freedoms. The method explored in this paper is to use a single joint robot to push an object on a constant speed conveyor belt. This paper summarizes the approach, previously described in [Akella et al. 95], and extends the approach to include the problem of orienting polygonal objects without a sensor.

BibTeX entry

@InCollection{Akella97,
  author = 	 "Srinivas Akella and Wesley H. Huang and Kevin M. Lynch and
		 Matthew T. Mason",
  title = 	 {Sensorless Parts Feeding with a One Joint Robot},
  booktitle = 	 {Algorithms for Robotic Motion and Manipulation},
  publisher =	 {A K Peters},
  year =	 1997,
  editor =	 {Jean-Paul Laumond and Mark Overmars},
  pages =	 {229--238}
}