NDLI: Planning robotic manipulation strategies for sliding objects

Content Provider	IEEE Xplore Digital Library
Author	Peshkin, M. Sanderson, A.
Copyright Year	1987
Description	Author affiliation: Carnegie-Mellon University, Pittsburgh, PA, USA (Peshkin, M.)
Abstract	A configuration map is defined and computed, mapping all configurations of a part before an elementary manipulative operation to all possible outcomes. Configuration maps provide a basis for planning the operation sequences which occur in parts-feeder designs or in more general sensorless manipulation strategies for robots. Sequences of elementary operations are represented as matrix-products of configuration maps for the individual operations. Efficient methods for searching the space of all operations sequences are described. As an example we consider a class of parts feeders based on a conveyor belt. Parts arrive on the belt in random initial orientations. By interacting with a series of stationary fences angled across the belt, the parts are aligned into a unique final orientation independent of their initial orientation. The planning problem is to create (given the shape of a part) a sequence of fences which will align that part. We demonstrate the automated design of such parts feeders.
Starting Page	696
Ending Page	701
File Size	474699
Page Count	6
File Format	PDF
DOI	10.1109/ROBOT.1987.1087972
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1987-03-01
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Strategic planning Belts Robotics and automation Robot sensing systems Friction Orbital robotics Shape Laboratories Motion analysis Uncertainty
Content Type	Text
Resource Type	Article

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