BOOK_CONTENT
From Algorithms for Robotic Motion and Manipulation

Chapter List

Sensorless Parts Feeding with a One Joint Robot
An Exploration of Nonprehensile Two-Palm Manipulation Using Two Zebras
Upper and Lower Bounds for Programmable Vector Fields with Applications to MEMS and Vibratory Plate Parts Feeders
Rolling Polyhedra on a Plane, Analysis of the Reachable Set

Overview

Srinivas Akella, The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA

Wesley H. Huang, The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA

Kevin M. Lynch, Biorobotics Division, Mechanical Engineering Laboratory, Tsukuba, Japan

Matthew T. Mason, The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA

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 [3], and extends the approach to include the problem of orienting polygonal objects without a sensor.

1 Introduction

This paper describes an approach to planar manipulation called "1JOC" (One Joint Over Conveyor, pronounced "one jock") [3]. Initially the approach was conceived as a variation on the Adept Flex Feeder (see Figure 1), which is used to feed parts in automated factories. The Flex Feeder uses a system of conveyors to recirculate parts, presenting them in random orientation...

Copyright A K Peters, Ltd. 1997 under license agreement with Books24x7

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Topics of Interest

Chapter List CAD Geometry Algorithms in a Large Industrial Enterprise Freeform Shape Machining Using Minkowski Operations The Power of Friction: Quantifying the "Goodness" of Frictional Grasps...

Wesley H. Huang, Carnegie Mellon University, Pittsburgh, PA, USA Matthew T. Mason, Carnegie Mellon University, Pittsburgh, PA, USA We have been studying manipulation using impulsive forces; in...

Yan-Bin Jia, Carnegie Mellon University, Pittsburgh, PA, USA Michael Erdmann, Carnegie Mellon University, Pittsburgh, PA, USA Overview This paper investigates local observability of the pose and...

Mark Moll, Carnegie Mellon University, Pittsburgh, PA Michael A. Erdmann, Carnegie Mellon University, Pittsburgh, PA For assembly tasks parts often have to be oriented before they can be put in an...

Michael Erdmann, Carnegie Mellon University, Pittsburgh, PA, USA 1 Introduction As a robotic hand grasps an object of unknown shape, the object may slip in the robot's fingers. If the robot can infer...