Planar Manipulation on a Conveyor with a One Joint Robot
S. Akella, W. Huang, K. M. Lynch, and M. T. Mason


This paper explores a method of manipulating a planar rigid body 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 outline our approach, develop some of the theoretical properties, present a planner for the robot, and describe an initial implementation.