AN EXPLORATION OF SENSORLESS MANIPULATION
AN EXPLORATION OF SENSORLESS MANIPULATION
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DOI：
10.1109/56.800
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发表时间：
1988-08-01
期刊：
影响因子：
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通讯作者：
MASON, MT
中科院分区：
文献类型：
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作者：
ERDMANN, MA;MASON, MT
使用的运动策略，以消除不确定性，而不使用传感器，被认为是。该方法是在一个简单的方法来定位平面对象的上下文中演示。一个随机定向的物体被放入托盘中。当托盘倾斜时，对象可以滑入墙壁、沿着墙壁以及滑入角落，有时具有减少可能取向的数量的效果。对于某些对象，存在一系列倾斜操作，使对象的方向完全确定。一个自动规划者描述，构造这样的倾斜程序，使用一个简单的模型的力学滑动。规划器已经实现，产生的程序已经使用连接到工业机械手的托盘执行，有时程序工作。作者探讨了无传感器操作的问题，特别是托盘倾斜，在T。Lozano-Perez，M.T. Mason，and Rolf Taylor（1984）.据观察，无传感器运动策略执行条件的行动，使用机械的决定，在环境调查的地方。<>
The use of motion strategies to eliminate uncertainty, without the use of sensors, is considered. The approach is demonstrated within the context of a simple method to orient planar objects. A randomly oriented object is dropped into a tray. When the tray is tilted, the object can slide into walls, along walls, and into corners, sometimes with the effect of reducing the number of possible orientations. For some objects a sequence of tilting operations exists that leaves the object's orientation completely determined. An automatic planner is described that constructs such a tilting program, using a simple model of the mechanics of sliding. The planner has been implemented, the resulting programs have been executed using a tray attached to an industrial manipulator, and sometimes the programs work. The authors explore the issue of sensorless manipulation, tray tilting in particular, within the context of a formal framework described by T. Lozano-Perez, M.T. Mason, and Rolf Taylor (1984). It is observed that sensorless motion strategies perform conditional actions using mechanical decisions in place of environmental inquiries.<>