Title :
Toppling manipulation
Author_Institution :
Dept. of Mech. Eng., Northwestern Univ., Evanston, IL, USA
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;
Conference_Titel :
Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on
Conference_Location :
Detroit, MI
Print_ISBN :
0-7803-5180-0
DOI :
10.1109/ROBOT.1999.773981
