Parts Orienting by Push-aligning
Proceedings of the 1995 IEEE International Conference on Robotics and
Automation, pp. 414-420, Nagoya, Japan, May 1995.
Srinivas Akella and Matthew T. Mason
Programmable parts orienting is an important capability for
flexible 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 effect of shape uncertainty, due to
manufacturing tolerances, on part orientability.