Positioning polygonal parts without sensors

Amir H. Mottaez; Murilo G. Coutinho; Kenneth A. Goldberg

doi:10.1117/12.164957

29 November 1993 Positioning polygonal parts without sensors

Amir H. Mottaez, Murilo G. Coutinho, Kenneth A. Goldberg

Proceedings Volume 2063, Vision, Sensors, and Control for Automated Manufacturing Systems; (1993) https://doi.org/10.1117/12.164957
Event: Optical Tools for Manufacturing and Advanced Automation, 1993, Boston, MA, United States

Abstract

It has been shown that given any polygonal part, it is possible to derive a sequence of grasping operations that are sufficient to orient the part up to symmetry without sensors. At the conclusion of such a sequence, one degree of translational freedom is part position remains. This paper describes how to eliminate that degree of freedom with a sequence of pushing motions. Thus we show that sensors are not necessary to uniquely determine the final position and orientation of polygonal parts.

Citation Download Citation

Amir H. Mottaez, Murilo G. Coutinho, and Kenneth A. Goldberg "Positioning polygonal parts without sensors", Proc. SPIE 2063, Vision, Sensors, and Control for Automated Manufacturing Systems, (29 November 1993); https://doi.org/10.1117/12.164957

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