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Part orienting with a force/torque sensor

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3 Author(s)
Rusaw, S. ; Exp. Robotics Lab., Simon Fraser Univ., Burnaby, BC, Canada ; Gupta, K. ; Payandeh, S.

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

Published in:

Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on  (Volume:4 )

Date of Conference: