Generating Stochastic Plans for a Programmable Parts Feeder
journal contributionposted on 1991-04-01, 00:00 authored 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.