Parts feeding on a conveyor with a one joint robot

被引：75

作者：

Akella, S

Huang, WH

Lynch, KM

Mason, MT

机构：

[1] Rensselaer Polytech Inst, Dept Comp Sci, Troy, NY 12180 USA

[2] Northwestern Univ, Dept Mech Engn, Evanston, IL 60208 USA

[3] Carnegie Mellon Univ, Inst Robot, Pittsburgh, PA 15213 USA

来源：

ALGORITHMICA | 2000年 / 26卷 / 3-4期

关键词：

robotics; manipulation; mechanics; planning; minimalism; automation; manufacturing; parts feeding;

D O I：

10.1007/s004539910016

中图分类号：

TP31 [计算机软件];

学科分类号：

081202 [计算机软件与理论]; 0835 [软件工程];

摘要：

This, paper explores a method of manipulating a planar rigid part 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 develop a model of this system and of a variation which requires no sensing. We have been able to characterize these systems and to prove that they can serve as parts feeding devices for planar polygonal parts. We present the planners for these systems and describe our implementations.

引用

页码：313 / 344

页数：32

共 64 条

[1]

Akella S, 1998, IEEE INT CONF ROBOT, P557, DOI 10.1109/ROBOT.1998.677032

[2]

Posing polygonal objects in the plane by pushing [J].