Class 14 (Monday, February 28) :
PART FEEDING
- Topics:
- Sensorless motion planning
- Raking advantages of task mechanics
- Part orientation by squeezing
- Part orientation by traps and/or fences
- Motion space and nondirectional blocking graph
- Part positioning by force field
- Required Readings:
- Part squeezing:
K. Goldberg. Orienting Polygonal Parts Without Sensors.
Algorithmica, 10(3):201-225, 1993
(pdf file).
- Force fields:
L. Kavraki. Part Orientation with Programmable Vector Fields: Two
Stable Equilibria for Most Parts.
Proceedings of the IEEE International Conference on Robotics
and Automation, Albuquerque (NM), 1997
(ps file).
- Other Readings:
- Trap design:
R.P. Berretty, L. Cheung, K. Goldberg, M.H. Overmars, G. Smith,
A.F. van der Stappen.
Trap design for vibratory bowl feeders.
Proceedings of the IEEE International Conference on Robotics and
Automation, pages 2558-2563, 1999
(ps file).
JAVA APPLET.
- Some of the best research in sensorless part orientation is conducted by Mike
Erdmann, Ken
Goldberg, Kevin Lynch,
and Matt
Mason. Visit their web sites.
- Powerpoint slides -- Intro
- Powerpoint slides --
Part squeezing paper
- Powerpoint slides --
Vector fields paper