Title :
Flexible part feeder: manipulating parts on conveyer belt by active fence
Author :
Salvarinov, Andon ; Payandeh, Shahram
Author_Institution :
Sch. of Eng. Sci., Simon Fraser Univ., Burnaby, BC, Canada
Abstract :
This paper defines a novel approach in application of part orienting on conveyer belt utilizing active fence (AF) with embedded sensory system. The application system requirements and limitation are presented and a novel stateless orienting algorithm is developed. The algorithm incorporates the part-AF frictional aspects, part motion behavior (rolling) while being pushed by AF and uncertainties in the system. The controller of AF incorporating the sensor information was developed and experimental result is given. Furthermore, an initial algorithm for orienting randomly oriented parts using an AF is proposed for orienting a simple object
Keywords :
conveyors; manipulators; spatial variables control; uncertain systems; active fence; conveyer belt; embedded sensory system; flexible part feeder; friction; initial algorithm; part motion behavior; part orientation; parts manipulation; rolling; stateless orienting algorithm; Assembly; Automatic control; Belts; Fingers; Laboratories; Performance gain; Robot sensing systems; Sensor systems; Torque; Uncertainty;
Conference_Titel :
Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on
Conference_Location :
Leuven
Print_ISBN :
0-7803-4300-X
DOI :
10.1109/ROBOT.1998.677093
