Date of Original Version



Conference Proceeding

Abstract or Description

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.


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Included in

Robotics Commons



Published In

Proceedings of the 1991 IEEE International Conference on Robotics and Automation, 352-359.