DocumentCode
2096635
Title
Stable limit set behavior in a dynamic parts feeder
Author
Lynch, Kevin M. ; Northrop, Michael ; Pan, Peng
Author_Institution
Lab. for Intelligent Mech. Syst., Northwestern Univ., Evanston, IL, USA
Volume
2
fYear
2001
fDate
2001
Firstpage
1129
Abstract
We describe a one-joint planar arm which repeatedly throws and catches parts on its surface, and we demonstrate that proper choice of the throw velocity and arm geometry guarantees that the part will enter a unique recurrent motion pattern from a large set of initial configurations. The resulting system resembles an open-loop stable juggler of polygonal parts
Keywords
industrial manipulators; materials handling; stability; arm geometry; catching; dynamic parts feeder; one-joint planar arm; open-loop stable juggler; polygonal parts; recurrent motion pattern; stable limit set behavior; throw velocity; throwing; Belts; Computational geometry; Fixtures; Gravity; Intelligent systems; Laboratories; Mechanical engineering; Mechanical systems; Robots; Uncertainty;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on
Conference_Location
Maui, HI
Print_ISBN
0-7803-6612-3
Type
conf
DOI
10.1109/IROS.2001.976320
Filename
976320
Link To Document