Part orienting with a force/torque sensor

被引：0

作者：

Rusaw, S ^{[1
]}

Gupta, K ^{[1
]}

Payandeh, S ^{[1
]}

机构：

[1] Simon Fraser Univ, Sch Engn Sci, Expt Robot Lab, Burnaby, BC V5A 1S6, Canada

来源：

ICRA '99: IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-4, PROCEEDINGS | 1999年

关键词：

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper examines sensor-based orientation of polygonal shaped objects using a 6-axis force/torque sensor which is used to supply rotation and force information during the orientation process. Sensor-based algorithms utilizing rotation sense and force information are presented which offer improvements over the best sensorless orienting techniques, and are shown to be better than previous sensor-based techniques for parts with the same diameter value for every stable edge. Plans generated by our algorithm were tested and verified using a unique conveyor/robotic car testbed.

引用

页码：2545 / 2550

页数：6

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