The University of Edinburgh -
Division of Informatics
Forrest Hill & 80 South Bridge

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
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.

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