CS 326 A: Motion PlanningCS 326 A: Part FeedingOne Approach: Sense and ManipulateSensorless Techniques (Minimalist Approach)Vibratory BowlsConveyor + One-DOF ArmConveyor Plus DeceiversPeopleIssuesCS 326 A: Motion CS 326 A: Motion PlanningPlanninghttp://robotics.stanford.edu/~latombe/cs326/2002Part FeedingPart FeedingCS 326 A: Part FeedingCS 326 A: Part FeedingPrior to being assembled, parts must befed in a given position and orientation Part feeders may represent more than 50% of cost of an assembly workcellOne Approach: One Approach: Sense and ManipulateSense and ManipulateE.g., an overhead vision system measures initial position and orientation of a part, and a manipulator re-positions/orients the partSensorless TechniquesSensorless Techniques(Minimalist Approach)(Minimalist Approach)Vibratory bowlsSqueezing motions (Goldberg’s paper)Pushing motions + fences, deceivers, etcVector fields (Kavraki’s paper)Exploit the “mechanics” of part-support or Exploit the “mechanics” of part-support or part-gripper contact:part-gripper contact:Vibratory BowlsVibratory BowlsConveyor + One-DOF ArmConveyor + One-DOF ArmPlan is sequence of motions of the armConveyor Plus DeceiversConveyor Plus DeceiversPlan is sequence and positioning of deceivers(hardware-implemented motion plan)PeoplePeopleGoldberg (Berkeley)Mason (CMU)Lynch (Nortwestern)Donald (Dartmouth)Kavraki (Rice)Company: Adept Technology (San Jose)IssuesIssuesBetter predictive dynamic models (Mirtich)Effective technology (MEMS or other) to generate force fieldsFast and low-cost
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