Research Paper #619
|
Title: | Orienting Objects in a Minimum Number of Robot Sweeping Motions
|
Authors: | Deacon,G; Low,PL; Malcolm,CA
|
Date: | 1993
|
Presented: | Presented at the 6th International Conference on Industrial and Engineering Applications of AI and Expert Systems, Edinburgh, 1993
|
Keywords: |
|
Abstract: | The technique described in this paper is an application of Brost's push-stability diagram, a graphical representation of the qualitative behaviour of an object when pushed in a horizontal plane by a flat fence, that is derived from some results of Mason. We describe an algorithm that uses this diagram to calculate the minimum number of robot sweeping motions needed to put a randomly oriented planar object into a known orientation, and what these motions are.
|
Download: | POSTSCRIPT COPY
|