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Geometry and Part Feeding

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Sensor Based Intelligent Robots

Part of the book series: Lecture Notes in Computer Science ((LNCS,volume 2238))

Abstract

Many automated manufacturing processes require parts to be oriented prior to assembly. A part feeder takes in a stream of identical parts in arbitrary orientations and outputs them in uniform orientation. We consider part feeders that do not use sensing information to accomplish the task of orienting a part; these feeders include vibratory bowls, parallel jaw grippers, and conveyor belts and tilted plates with so-called fences. The input of the problem of sensorless manipulation is a description of the part shape and the output is a sequence of actions that moves the part from its unknown initial pose into a unique final pose. For each part feeder we consider, we determine classes of orientable parts, give algorithms for synthesizing sequences of actions, and derive upper bounds on the length of these sequences.

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Author information

Authors and Affiliations

  1. Institute of Information and Computing Sciences, Utrecht University, P.O.Box 80089, 3508 TB, Utrecht, The Netherlands

    A. Frank van der Stappen, Robert-Paul Berretty & Mark H. Overmars

  2. Department of Computer Science, University of North Carolina, Campus Box 3175, Sitterson Hall, 27599-3175, Chapel Hill, NC, USA

    Robert-Paul Berretty

  3. Department of Industrial Engineering and Operations Research, University of California at Berkeley, 94720, Berkeley, CA, USA

    Ken Goldberg

Authors
  1. A. Frank van der Stappen
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  2. Robert-Paul Berretty
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  3. Ken Goldberg
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  4. Mark H. Overmars
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Editor information

Editors and Affiliations

  1. Department of Computer Science, Johns Hopkins University, Baltimore

    Gregory D. Hager

  2. Center for Autonomous Systems, CVAP, Royal Institute of Technology, Sweden

    Henrik Iskov Christensen

  3. Department of Computer Science, University of Bern, German

    Horst Bunke

  4. Institute for Computer Science I, University of Bonn, USA

    Rolf Klein

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© 2002 Springer-Verlag Berlin Heidelberg

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van der Stappen, A.F., Berretty, RP., Goldberg, K., Overmars, M.H. (2002). Geometry and Part Feeding. In: Hager, G.D., Christensen, H.I., Bunke, H., Klein, R. (eds) Sensor Based Intelligent Robots. Lecture Notes in Computer Science, vol 2238. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-45993-6_15

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  • DOI: https://doi.org/10.1007/3-540-45993-6_15

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  • Print ISBN: 978-3-540-43399-6

  • Online ISBN: 978-3-540-45993-4

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