file.pdf (538.82 kB)
0/0

Generating Stochastic Plans for a Programmable Parts Feeder

Download (538.82 kB)
journal contribution
posted on 01.04.1991 by Kenneth Y. Goldberg, Matthew T. Mason, Michael Erdmann
A programmable parts feeder, a mechanism that can be reprogrammed to handle differently shaped parts, is discussed. The authors present a planning algorithm that accepts an n-sided polygonal part as input and, in time O(n/sup 2/), generates a program (plan) for the feeder that maximizes expected feedrate. They have implemented the planner and verified some of the resulting plans in the laboratory. This work illustrates a stochastic framework for manipulation planning.

History

Publisher Statement

"©1991 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE."

Date

01/04/1991

Exports

Keyword(s)

Exports