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Abstract: This paper explores a method of manipulating a planar rigid part 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 develop a model of this system and of a variation which requires no sensing. We have been able to characterize these systems and to prove that they can serve as parts feeding devices for planar polygonal parts. We present the... (Update)
Context of citations to this paper: More
...Thus robot motion is reduced to fixed automation. When combined with previous work on orienting planar parts on conveyors (Akella et al. [3]; Peshkin and Sanderson [14] Brokowski et al. 6] Wiegley et al. 20] toppling permits full 3D parts feeding on a conveyor. In this...
.... conveyor belt with a sequence of fences rigidly attached to both its sides [20, 35, 39] the conveyor belt with a single rotational fence [2], the tilting tray [25,33] and vibratory plates and programmable vector fields [16, 17] Traditionally, sensorless part feeding is...
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1.1: Dynamic Nonprehensile Manipulation: Controllability, Planning, .. - Lynch, Mason (1997) (Correct)
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6: Dynamic nonprehensilemanipulation: Controllability - Lynch, Mason - 1996
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BibTeX entry: (Update)
S. Akella, W. Huang, K. M. Lynch, and M. T. Mason. Parts feeding on a conveyor with a one joint robot. Algorithmica, ??:??, 1999. accepted for publication. http://citeseer.ist.psu.edu/akella00parts.html More
@article{ akella00parts,
author = "S. Akella and Wes H. Huang and Kevin M. Lynch and Matthew T. Mason",
title = "Parts Feeding on a Conveyor with a One Joint Robot",
journal = "Algorithmica",
volume = "26",
number = "3-4",
pages = "313-344",
year = "2000",
url = "citeseer.ist.psu.edu/akella00parts.html" }
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223 Nonlinear Dynamical Control Systems (context) - Nijmeijer, van der Schaft - 1990
201 Nonlinear Programming: Theory and Algorithms (context) - Bazaraa, Shetty - 1979
113 Orienting polygonal parts without sensors - Goldberg - 1993
102 Passive dynamic walking (context) - McGeer - 1990
80 Robot Hands and the Mechanics of Manipulation (context) - Mason, Salisbury - 1985
76 Mechanics and planning of manipulator pushing operations (context) - Mason - 1986
74 Automatic grasp planning in the presence of uncertainty (context) - Brost - 1988
68 An exploration of nonprehensile two-palm manipulation: plann.. - Erdmann - 1995
64 Stable pushing: Mechanics (context) - Lynch, Mason - 1995
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38 Assembly Automation and Product Design (context) - Boothroyd - 1992
36 Planar manipulation on a conveyor with a one joint robot - Akella, Huang et al. - 1995
35 A complete algorithm for designing passive fences to orient .. - Wiegley, Goldberg et al. - 1996
34 Sensorless manipulation using transverse vibrations of a pla.. - Bohringer, Bhatt et al. - 1989
32 Posing polygonal objects in the plane by pushing - Akella, Mason - 1998
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30 A programmable orienting system for flat parts (context) - Mani, Wilson - 1985
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29 Enhancing the dexterity of a robot hand using controlled sli.. (context) - Brock - 1988
28 The mechanics of fine manipulation by pushing - Lynch - 1995
27 Designing parts feeders using dynamic simulation - Berkowitz, Canny - 1996
26 Curved fences for part alignment - Brokowski, Peshkin et al. - 1993
26 Nonprehensile twopalm manipulation with non-equilibrium tran.. - ZumelandM, Erdmann - 1996
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24 Dexterous manipulation through rolling - Bicchi, Sorrentino - 1995
23 Sensorless parts feeding with a one joint robot - Akella, Huang et al. - 1996
22 Further progress in robot juggling: the spatial two-juggle (context) - Rizzi, Koditschek - 1993
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16 Dynamic analysis of planar manipulation tasks (context) - Brost - 1992
15 Bounds on the friction-dominated motion of a pushed object (context) - Alexander, Maddocks - 1993
14 Mechanics of vibration-assisted entrapment with application .. (context) - Krishnasamy, Jakiela et al. - 1996
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11 Nonlinear systems and differential geometry (context) - Brockett - 1976
10 Two graphical methods for planar contact problems (context) - Mason - 1991
10 Parts orienting with partial sensor information - Akella, Mason - 1998
9 Reducing uncertainty of objects by robot pushing (context) - Balorda - 1990
9 Manipulation planning from empirical backprojections (context) - Christiansen - 1990
9 Controllability of a 3-dof manipulator with a passive joint .. (context) - Arai - 1996
8 Parts supply in SONY's general-purpose assembly system SMART (context) - Shirai, Saito - 1989
8 From stable to chaotic juggling: theory (context) - Buhler, Koditschek - 1976
8 Experimental study of an underactuated manipulator - Bergerman, Lee et al. - 1995
7 Controllability of pushing - Lynch, Mason - 1995
7 Automatic grasp planning: an operation space approach (context) - Mason, Brost - 1986
7 Dynamics and controllability of a planar rigid body with a t.. - Manikonda, Krishnaprasad - 1996
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2 Distributed robot manipulation: experiments in minimalism (context) - Bohringer, Brown et al. - 1995
2 Spacecraft attitude and stabilization: applications of geome.. (context) - Crouch - 1984
2 South San Francisco (context) - Liebman, Lasdon et al. - 1986
The graph only includes citing articles where the year of publication is known.
Documents on the same site (http://www.cs.rpi.edu/~sakella/research.html): More
Manipulating Parts with an Array of Pins: A Method and.. - Blind, McCullough.. (2001) (Correct)
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Time-Scaled Coordination of Multiple Manipulators - Akella, Peng (2004) (Correct)
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