SMME,
University of Surrey,
Guildford, Surrey,
GU2 7XH, UK
Tel
(01483) 879681
Fax (01483) 306039
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Objects presented to automatic handling machinery need to be in a known pose. This process is known as feeding. Previously the design of feeding devices has relied largely on trial and error coupled with hard earned experience. We have derived an algorithm that produces an optimal sequence of pushing actions that transform an object from an initial arbitrary orientation to a final known orientation. Related work has tended to concentrate on polygonal objects. Our approach can handle objects of arbitrary outline and we have shown that the qualitative behaviour possible under pushing is related to the mathematical discipline of Catastrophe Theory.
The plots above show the Catastrophe Surface for a parabola for varying values of the coefficient of friction. We have shown that the location of an object's centre of mass with respect to these Catastrophe Surfaces determines when qualitative changes in the behaviour of a pushed object occur.
Some downloadable published papers on this subject are available here. So far this work has concentrated on objects that can be treated as planar. Future work will concentrate on removing this restriction as well as delivering both position and orientation simultaneously.
MSRR people involved with parts feeding are
Dr Graham Deacon
(unofficial homepage).
These pages are administered by Maarten Michielen
(m.michielen@surrey.ac.uk)
All legal boffs please read this copyright and disclaimer notice.
Last change: October 2000