Identifying and positioning parts using RISC sensors and RISC grippers together

This paper introduces our work on "reliable, immediate, simple and cheap" (RISC) robotics, focusing on removing pose uncertainty of parts, which is the principal cause of mating failure. To maximize the RISC effects, we recommend using RISC sensors and RISC grippers together in part picking. Before grasping, parts can be identified and roughly localized using optical sensors. During grasping, parts can be precisely positioned using a two-fingered gripper. After grasping, parts can be further positioned using optical sensors. Some remarks are made on the problem of mapping the part pose to the sensed containing hexagon. Several RISC grippers better than parallel jaws are proposed. Further positioning parts after grasping is illustrated.

[1]  John F. Canny,et al.  Accurate insertion strategies using simple optical sensors , 1994, Proceedings of the 1994 IEEE International Conference on Robotics and Automation.

[2]  Dinesh Manocha,et al.  Object localization using crossbeam sensing , 1993, [1993] Proceedings IEEE International Conference on Robotics and Automation.

[3]  Antonio Bicchi,et al.  On the Closure Properties of Robotic Grasping , 1995, Int. J. Robotics Res..

[4]  John F. Canny,et al.  A RISC approach to robotics , 1994, IEEE Robotics & Automation Magazine.

[5]  Shape from Diameter: Recognizing Polygonal Parts with . . . , 1993 .

[6]  Kenneth Y. Goldberg,et al.  Bayesian grasping , 1990, Proceedings., IEEE International Conference on Robotics and Automation.

[7]  Kenneth Y. Goldberg,et al.  Sorting parts by random grasping , 1995, IEEE Trans. Robotics Autom..

[8]  John F. Canny,et al.  "RISC" industrial robotics: recent results and open problems , 1994, Proceedings of the 1994 IEEE International Conference on Robotics and Automation.

[9]  Kenneth Y. Goldberg,et al.  Shape from Diameter , 1994, Int. J. Robotics Res..

[10]  Wen-Han Qian,et al.  An intelligent assembly system based on RISC robotics , 1997, 1997 IEEE International Conference on Intelligent Processing Systems (Cat. No.97TH8335).