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Proceedings Paper

Positioning polygonal parts without sensors
Author(s): Amir H. Mottaez; Murilo G. Coutinho; Kenneth A. Goldberg
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Paper 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.

Paper Details

Date Published: 29 November 1993
PDF: 9 pages
Proc. SPIE 2063, Vision, Sensors, and Control for Automated Manufacturing Systems, (29 November 1993); doi: 10.1117/12.164957
Show Author Affiliations
Amir H. Mottaez, Univ. of Southern California (United States)
Murilo G. Coutinho, Univ. of Southern California (United States)
Kenneth A. Goldberg, Univ. of Southern California (United States)


Published in SPIE Proceedings Vol. 2063:
Vision, Sensors, and Control for Automated Manufacturing Systems
Scott S. Breidenthal; Alan A. Desrochers, Editor(s)

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