Journal ArticleDOI
An exploration of sensorless manipulation
Michael A. Erdmann,Matthew T. Mason +1 more
- Vol. 4, Iss: 4, pp 369-379
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TLDR
An automatic planner is described that constructs a tilting program, using a simple model of the mechanics of sliding, and it is observed that sensorless motion strategies perform conditional actions using mechanical decisions in place of environmental inquiries.Abstract:
An autonomous robotic manipulator can reduce uncertainty in the locations of objects in either of two ways: by sensing, or by motion strategies. This paper explores the use of motion strategies to eliminate uncertainty, without the use of sensors. The approach is demonstrated within the context of a simple method to orient planar objects. A randomly oriented object is dropped into a tray. When the tray is tilted, the object can slide into walls, along walls, and into corners, sometimes with the effect of reducing the number of possible orientations. For some objects a sequence of tilting operations exists that leaves the object's orientation completely determined. The paper describes an automatic planner that constructs such a tilting program, using a simple model of the mechanics of sliding. The planner has been implemented, the resulting programs have been executed using a tray attached to an industrial manipulator, and sometimes the programs work. The paper also explores the issue of sensorless manipulation, tray-tilting in particular, within the context of a formal framework first described by Lozano-Perez, Mason, and Taylor [1984]. It is observed that sensorless motion strategies perform conditional actions using mechanical decisions in place of environmental inquiries.read more
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MonographDOI
Planning Algorithms: Introductory Material
TL;DR: This coherent and comprehensive book unifies material from several sources, including robotics, control theory, artificial intelligence, and algorithms, into planning under differential constraints that arise when automating the motions of virtually any mechanical system.
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