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The International Journal of Robotics Research
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Flexible Part Orienting Using Rotation Direction and Force Measurements

Shawn Rusaw

University of Oxford Computing Lab, Wolfson Building, Parks Road, Oxford OX1 3QD, UKshawn.rusaw{at}comlab.ox.ac.uk

Kamal Gupta

Robotics Laboratory, School of Engineering Science, Simon Fraser University, Burnaby, British Columbia V5A 1S6, Canadakamal{at}cs.sfu.ca

Shahram Payandeh

Robotics Laboratory, School of Engineering Science, Simon Fraser University, Burnaby, British Columbia V5A 1S6, Canadashahram{at}cs.sfu.ca

This paper presents a novel sensor-based flexible part orienting system based on the commonly available force/torque sensor. The system orients planar parts arriving on a conveyor belt via a sequence of pushing operations with a force/torque sensor–equipped fence. A method of using the raw force data from the sensor to infer the rotation direction of the part is presented. Algorithms using (i) only rotation direction and (ii) rotation direction plus force information are presented. These algorithms find orienting plans with fewer steps than current sensorless orienting techniques, and for a number of specified part shape classes, current sensor-based techniques. Plans generated by these algorithms were tested and verified using a conveyor/robotic car test bed.

Key Words: sensor-based part orienting • part orienting • force/torque sensor • rotation sensor

The International Journal of Robotics Research, Vol. 20, No. 6, 484-505 (2001)
DOI: 10.1177/02783640122067507
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[Abstract] [PDF]