Parts Orienting by Push-Aligning

Programmable parts orienting is an important capability for exible automation systems. Here we study how a part grasped in an unknown orientation by a force-controlled robot can be oriented by a sequence of push-align actions against a wall followed by sensor measurements of the distance from the grasp point to the wall. This paper concentrates on three issues: planning a sequence of actions to orient a part, exploring design changes that enable the part to be oriented in fewer steps, and the e ect of shape uncertainty, due to manufacturing tolerances, on part orientability.

• Type: Conference
• Year: 1995
• Where: ICRA
• Authors: Srinivas Akella, Matthew T. Mason
• Keywords: Exible Automation Systems, ICRA 1995, Important Capability, Programmable Parts, Robotics