Manipulating parts with an array of pins: A method and a machine

International Journal of Robotics Research

Volumn 20, Issue 10, 2001, Pages 808-818

  Blind, Sebastien J ^a   McCullough, Christopher C ^b   Akella, Srinivas ^c   Ponce, Jean ^d  

^a Microstrategy   (United States)

^b BAE SYSTEMS   (United States)

^c Rensselaer Polytechnic Institute   (United States)

^d UNIVERSITY OF ILLINOIS AT URBANA CHAMPAIGN   (United States)

Author keywords

Automation; Capture region; Flexible assembly; Manipulation; Parts feeding

Indexed keywords

EID: 0345671741     PISSN: 02783649     EISSN: None     Source Type: Journal    
DOI: 10.1177/02783640122068119     Document Type: Article

References (48)

1. Abell, T., and Erdmann, M. A. 1995. Stably supported rotations of a planar polygon with two frictionless contacts. IEEE/RSJ International Conference on Robots and Systems 3:411-418.
2. Akella, S., Huang, W. H., Lynch, K. M., and Mason, M. T. 1996. Planar manipulation on a conveyor with a one joint robot. In Robotics Research: The Seventh International Symposium, ed. G. Giralt and G. Hirzinger, 265-276. London: Springer.
3. Berretty, R.-P., Goldberg, K., Cheung, L., Overmars, M. H., Smith, G., and van der Stappen, A. F. 1999. Trap design for vibratory bowl feeders. IEEE International Conference on Robotics and Automation, pp. 2558-2563, Detroit, MI, May.
4. Blind, S. J. 1999. Automated programming of a reconfigurable feeder. Master's thesis, Department of Computer Science, University of Illinois at Urbana-Champaign.
5. Blind, S. J., McCullough, C. C., Akella, S., and Ponce, J. 2000a. Manipulating parts with an array of pins: A method and a machine. In Robotics Research: The Ninth International Symposium, ed. J. M. Hollerbach and D. E. Koditschek, pp. 123-130. London: Springer-Verlag.
6. Blind, S. J., McCullough, C. C., Akella, S., and Ponce, J. 2000b. A reconfigurable parts feeder with an array of pins. Video Proceedings, IEEE International Conference on Robotics and Automation, San Francisco, April.
7. Böhringer, K. F., Bhatt, V., and Goldberg, K. Y. 1995. Sensorless manipulation using transverse vibrations of a plate. IEEE International Conference on Robotics and Automation, pp. 1989-1996, Nagoya, Japan, May.
8. Böhringer, K. F., Donald, B. R., Kavraki, L. E., and Lamiraux, F. 2000. A single universal force field can uniquely pose any part up to symmetry. In Robotics Research: The Ninth International Symposium, ed. J. M. Hollerbach and D. E. Koditschek, pp. 395-402. London: Springer-Verlag.
9. Böhringer, K. F., Donald, B. R., Mihailovich, R., and MacDonald, N. C. 1994. Sensorless manipulation using massively parallel microfabricated actuator arrays. IEEE International Conference on Robotics and Automation, pp. 826-833, San Diego, CA, May.
10. Brost, R. C. 1988. Automatic grasp planning in the presence of uncertainty. International Journal of Robotics Research 7(1):3-17.
11. Brost, R. C. 1991. Analysis and planning of planar manipulation tasks. Ph.D. thesis, Carnegie Mellon University School of Computer Science. Technical Report CMU-CS-91-149.
12. Brost, R. C. 1992. Dynamic analysis of planar manipulation tasks. IEEE International Conference on Robotics and Automation, pp. 2247-2254, Nice, France, May.
13. Brost, R. C., and Goldberg, K. Y. 1996. A complete algorithm for designing planar fixtures using modular components. IEEE Transactions on Robotics and Automation 12(1):31-46.
14. Caine, M. 1994. The design of shape interactions using motion constraints. IEEE International Conference on Robotics and Automation, pp. 366-371, San Diego, CA, May.
15. Canny, J. F. 1989. On computability of fine motion plans. IEEE International Conference on Robotics and Automation, pp. 177-182, Scottsdale, AZ.
16. Canny, J. F., and Goldberg, K. Y. 1994. RISC for industrial robotics: Recent results and open problems. IEEE International Conference on Robotics and Automation, pp. 1951-1958, San Diego, CA, May.
17. Donald, B. R. 1988. A geometric approach to error detection and recovery for robot motion planning with uncertainty. Artificial Intelligence 37( 1-3):223-271.
18. Erdmann, M. 1984. On motion planning with uncertainty. Artificial Intelligence Laboratory AI-TR-810, MIT.
19. Erdmann, M., and Mason, M. T. 1988. An exploration of sensorless manipulation. IEEE Journal of Robotics and Automation 4(4):369-379.
20. Farahat, A. O., Stiller, P. R, and Trinkle, J. C. 1995. On the geometry of contact formation cells for systems of polygons. IEEE Transactions on Robotics and Automation 11(4):522-536.
21. Fearing, R. S. 1986. Simplified grasping and manipulation with dextrous robot hands. IEEE Journal of Robotics and Automation RA-2(4): 188-195.
22. Goldberg, K. Y. 1993. Orienting polygonal parts without sensors. Algorithmica 10(2):201-225.
23. Goresky, M., and Macpherson, R. 1980. Stratified Morse Theory. New York: Springer-Verlag.
24. Inoue, H. 1974. Force feedback in precise assembly tasks. AI Lab. AIM-308, MIT, 1974.
25. Jia, Y.-B., and Erdmann, M. 1996. Geometric sensing of known planar shapes. International Journal of Robotics Research 15(4):365-392.
26. Kriegman, D. J. 1997. Let them fall where they may: Capture regions of curved objects and polyhedra. International Journal of Robotics Research 16(4):448-472.
27. Krishnasamy, J., Jakiela, M. J., and Whitney, D. E. 1996. Mechanics of vibration-assisted entrapment with application to design. IEEE International Conference on Robotics and Automation, pp. 838-845, Minneapolis, MN, April.
28. Latombe, J.-C. 1991. Robot Motion Planning. Norwell, MA: Kluwer Academic.
29. Leveroni, S., and Salisbury, K. 1996. Reorienting objects with a robot hand using grasp gaits. In Robotics Research: The Seventh International Symposium, ed. G. Giralt and G. Hirzinger, 39-51. London: Springer.
30. Lozano-Pérez, T., Mason, M., and Taylor, R. 1984. Automatic synthesis of fine motion strategies for robots. International Journal of Robotics Research 3(1):3-24.
31. Luntz, J. E., Messner, W., and Choset, H. 1997. Parcel manipulation and dynamics with a distributed actuator array: The virtual vehicle. IEEE International Conference on Robotics and Automation, pp. 1541-1546, Albuquerque, NM, April.
32. Lynch, K. M. 1999. Toppling manipulation. IEEE International Conference on Robotics and Automation, pp. 2551-2557, Detroit, MI, May.
33. Mani, M., and Wilson, W.R.D. 1985. A programmable orienting system for flat parts. North American Manufacturing Research Conference XIII.
34. Mason, M. T. 1986. Mechanics and planning of manipulator pushing operations. International Journal of Robotics Research 5(3):53-71.
35. Mason, R., Rimon, E., and Burdick, J. 1995. The stability of heavy objects with multiple contacts. IEEE International Conference on Robotics and Automation, pp. 439-445, Nagoya, Japan, May.
36. Milnor, J. 1963. Morse Theory. Princeton, NJ: Princeton University Press.
37. Peshkin, M. A., and Sanderson, A. C. 1988. Planning robotic manipulation strategies for workpieces that slide. IEEE Journal of Robotics and Automation 4(5):524-531.
38. Rao, A., and Goldberg, K. 1995. Manipulating algebraic parts in the plane. IEEE Transactions on Robotics and Automation 11(4):598-602.
39. Rao, A., Kriegman, D. J., and Goldberg, K. 1996. Complete algorithms for reorienting polyhedral parts using a pivoting gripper. IEEE Transactions on Robotics and Automation 12(2):331-342.
40. Reznik, D., and Canny, J. 1998. A flat plate is a universal planar manipulator. IEEE International Conference on Robotics and Automation, pp. 1471-1477, Leuven, Belgium, May.
41. Rimon, E., and Blake, A. 1996. Caging 2D bodies by one-parameter two-fingered gripping systems. IEEE International Conference on Robotics and Automation, pp. 1458-1464, Minneapolis, MN, April.
42. Shirai, M., and Saito, A. 1989. Parts supply in Sony's general-purpose assembly system "SMART." Japanese Journal of Advanced Automation Technology 1:108-111.
43. Sudsang, A., Ponce, J., and Srinivasa, N. 1998. Grasping and in-hand manipulation: Experiments with a reconfigurable gripper. Advanced Robotics 12(5):509-533.
44. Sudsang, A., Ponce, J., and Srinivasa, N. 2000. Grasping and in-hand manipulation: Geometry and algorithms. Algorithmica 26:466-493.
45. Wallack, A. S., and Canny, J. F. 1997. Planning for modular and hybrid fixtures. Algorithmica 19:40-60.
46. Wentink, C., van der Stappen, A. F., and Overmars, M. 1997. Algorithms for fixture design. In Algorithms for Robotic Motion and Manipulation, ed. J.-P. Laumond and M. Overmars, pp. 321-346. Wellesley, MA: A. K. Peters.
47. Whitney, D. E. 1982. Quasi-static assembly of compliantly supported rigid parts. ASME Journal of Dynamic Systems, Measurement, and Control 104:65-77.
48. Wiegley, J., Goldberg, K. Y., Peshkin, M., and Brokowski, M. 1997. A complete algorithm for designing passive fences to orient parts. Assembly Automation 17(2):129-136.