Part orienting with a force/torque sensor

Author

Rusaw, Shawn ; Gupta, Kamal ; Payandeh, Shahram

Author_Institution

Exp. Robotics Lab., Simon Fraser Univ., Burnaby, BC, Canada

Volume

4

fYear

1999

fDate

1999

Firstpage

2545

Abstract

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

Keywords

attitude control; force sensors; materials handling; torquemeters; 6-axis force/torque sensor; conveyor/robotic car testbed; force information; orientation; part orienting; polygonal shaped objects; rotation sense; sensor-based algorithms; sensor-based orientation; Algorithm design and analysis; Force measurement; Force sensors; Laboratories; Robot sensing systems; Signal processing; Signal processing algorithms; Testing; Torque; Uncertainty;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on

Conference_Location

Detroit, MI

ISSN

1050-4729

Print_ISBN

0-7803-5180-0

Type

conf

DOI

10.1109/ROBOT.1999.773980

Filename

773980