Generating stochastic plans for a programmable parts feeder

A programmable parts feeder, a mechanism that can be reprogrammed to handle differently shaped parts, is discussed. The authors present a planning algorithm that accepts an n-sided polygonal part as input and, in time O(n/sup 2/), generates a program (plan) for the feeder that maximizes expected feedrate. They have implemented the planner and verified some of the resulting plans in the laboratory. This work illustrates a stochastic framework for manipulation planning. >

Authors

• Ken Goldberg
• Matthew T. Mason
• Michael A. Erdmann

Keywords

• Stochastic processes
• Grippers
• Computer science
• Belts
• Computer industry
• Automation
• Laboratories
• Process planning
• Manufacturing processes
• Injection molding
• Horizon
• Transfer Function
• Sequence Of Actions
• Step Function
• Parallel Lines
• Major Axis
• Uniform Density
• Static Model
• Subintervals
• Rotational Symmetry
• Changes In Geometry
• Action Classes
• Optimal Plan
• Planning Time
• Conveyor Belt
• Points In Domain
• Edge Of The Box
• Preimage
• Planning Algorithm
• Continuous Curve