DocumentCode
2912033
Title
Toppling manipulation
Author
Lynch, Kevin M.
Author_Institution
Dept. of Mech. Eng., Northwestern Univ., Evanston, IL, USA
Volume
4
fYear
1999
fDate
1999
Firstpage
2551
Abstract
This paper describes a robotic manipulation primitive called toppling, i.e. knocking a part over. We derive the mechanical conditions for toppling, express these as constraints on robot contact locations and motions, and describe an application of toppling to minimalist parts feeding of 3D objects on a conveyor with a 2 joint robot
Keywords
conveyors; manipulators; 2 joint robot; 3D objects; conveyor; mechanical conditions; minimalist parts feeding; motion constraint; robot contact location constraint; robotic manipulation primitive; toppling; Feeds; Grasping; Intelligent robots; Intelligent systems; Mechanical engineering; Mechanical systems; Motion planning; Robot motion; Robotics and automation; Tracking;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on
Conference_Location
Detroit, MI
ISSN
1050-4729
Print_ISBN
0-7803-5180-0
Type
conf
DOI
10.1109/ROBOT.1999.773981
Filename
773981
Link To Document