Sensorless parts orienting with a one-joint manipulator
نویسندگان
چکیده
This paper explores a sensorless technique for orienting planar parts. We follow an approach described in earlier papers [3, 4] called 1JOC for One Joint Over Conveyor, which can perform planar manipulation using a single controlled joint in combination with a constant-velocity conveyor. Our previous work demonstrated that the 1JOC approach can orient and feed planar polygonal parts, given a singulated part in a known initial location. This paper shows that a variation called the Sensorless 1JOC can orient and feed polygonal parts up to symmetries in the underlying mechanics, without knowing the initial location and without sensors.
منابع مشابه
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