Assembly Line Part Handling Algorithm

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(No Transcript)
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Open Problems

1. Autoplace locate the robot base to minimize
total travel time.
2. Cable Routing route cables to minimize total
turning angle.
3. Design of Gripper Jaws given set of grasps on
known parts.
4. Completeness of Fences for Feeding Parts.
5. Grasp-Circuit Planning rapidly schedule
efficient load paths.
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Recent Articles

A Complete Algorithm for Designing Passive Fences
to Orient Parts, (with J. Wiegley, M. Peshkin,
and M. Brokowski), Assembly Automation, 172,
August, 1997.
On the Existence of Solutions in Modular
Fixturing, (with Y. Zhuang), International
Journal of Robotics Research, 155, December
1996.
Computing Grasp Functions, (with A. Rao),
Computational Geometry and Applications, 6, May
1996.
Complete Algorithms for Feeding Polyhedral Parts
using Pivot Grasps, (with A. Rao and D.
Kriegman), IEEE Transactions on Robotics and
Automation. 12(2), April, 1996.
A Complete Algorithm for Designing Modular
Fixtures Using Modular Components, (with R.
Brost), IEEE Transactions on Robotics and
Automation. 12(1), February, 1996.
Beyond the Web Manipulating the Real World,
(with M. Mascha, S. Gentner, J. Rossman, N.
Rothenberg, C. Sutter and J. Wiegley), Computer
Networks and ISDN Systems Journal, 28(1),
December 1995.
Manipulating Algebraic Parts in the Plane, (with
A.Rao), IEEE Transactions on Robotics and
Automation, 11(4), August 1995.
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Recent Articles

A RISC Approach to Sensing and Manipulation,
(with J. Canny), Journal of Robotic Systems,
Special Issue edited by J. McCarthy and F. Park,
V12(6), June 1995.
Computing Fence Designs for Orienting Parts,
(with R.P. Berretty and F. van der Stappen and
M. Overmars), Computational Geometry and
Applications, Accepted March 1998.
Algorithms for Sensorless Manipulation Using a
Vibrating Surface (with K. Bohringer and V.
Bhatt and B. Donald), Algorithmica, Accepted
November 1997.
Geometric Eccentricity and the Complexity of
Manipulation Plans, (with F. van der Stappen and
M. Overmars), Algorithmica, Accepted September
1997.
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Assembly Line Part Handling Algorithms
Ken Goldberg ALPHA Lab UC Berkeley
The smartest assembly robot and the best
assembly machine in the world are useless without
the mechanism that delivers the part
- Bill Davis, Feeder
Systems
Sponsors National Science Foundation, Adept
Technology, General Motors, Intel, and HP.
http//www.ieor.berkeley.edu/goldberg
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Sorting Polygonal Parts with an Instrumented
Parallel-Jaw Gripper Duk Kang and Anil Rao and
Ken Goldberg (USC)
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Open Problems

• Can we orient any planar part up to symmetry
• using parallel-jaw grippers (i.e., parts with
  
• algebraic contours)?

• Is there a polynomial-time algorithm to find
  the
• shortest plan for sorting parts with an
  instrumented
• parallel-jaw gripper?

• Parts can be oriented with a sequence of fences
  as
• they pass on a conveyor belt. Are
  frictionless
• fences complete for the class of Polygonal
  Parts?
• (Is there a part we cannot orient with
  fences?)

• What is a lower bound on the complexity of
• designing modular fixtures? For what class
  of
• parts are modular fixtures complete?

• Given a known set of part, can we locate a
• registration mark on each part to efficiently
  
• distinguish them?

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• Stable poses of 3D curved parts Given a CSG
• part (constructed by negation, union, and
• intersection operations on n primitive
  solids) with
• its center of mass, what is the complexity of
  
• finding all stable poses of the part on a
  flat surface?

• Given a family of parts, choose a beam layout
  to
• minimize the probability of
  mis-identification of
• parts and mis-calculation of pose.

• Model generation Using a sequence of probes
• with a moving beam sensor, plan a strategy
  for
• determining the shadow of a part for
  recognition
• by a parallel-beam sensor.

• Pose determination from sparse depth probes.
• Given k fixed depth probes, determine part
  identity
• and pose given part models. (We are
• experimenting with simple beam arrays that
  will
• provide this data.)

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• Given polyhedral part shape, design a pallet
  such
• that parts flowing over the pallet will fall
  into the
• pallet in a unique orientation and are
  prevented
• from jamming.

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Fig. 2 APOS
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Publications

Algorithmic Foundations of Robotics, (co-edited
with D. Halperin, J-C. Latombe, and R. Wilson),
1995.
Manipulating Algebraic Parts in the Plane, (with
A. Rao), 1995.
A Complete Algorithm for designing Modular
Fixtures for Polygonal Parts, (with R. Brost),
1995.
A RISC Approach to Sensing and Manipulation,
(with J. Canny), 1995.
Placing Registration Marks, (with A. Rao), 1994.
Shape from Diameter Recognizing Polygonal Parts
with Parallel Jaw Gripper, (with A. Rao), 1994.
Orienting Polygonal Parts without Sensors, 1993.