1. CS 326 A: Motion Planning http://robotics.stanford.edu/~latombe/cs326/2002 Part Feeding

2. CS 326 A: Part Feeding  Prior to being assembled, parts must be fed in a given position and orientation  Part feeders may represent more than 50% of cost of an assembly workcell

3. One Approach: Sense and Manipulate E.g., an overhead vision system measures initial position and orientation of a part, and a manipulator re-positions/orients the part

4. Sensorless Techniques (Minimalist Approach)  Vibratory bowls  Squeezing motions (Goldberg’s paper)  Pushing motions + fences, deceivers, etc  Vector fields (Kavraki’s paper) Exploit the “mechanics” of part-support or part-gripper contact:

5. Vibratory Bowls

6. Conveyor + One-DOF Arm Plan is sequence of motions of the arm

7. Conveyor Plus Deceivers Plan is sequence and positioning of deceivers (hardware-implemented motion plan)

8. People  Goldberg (Berkeley)  Mason (CMU)  Lynch (Nortwestern)  Donald (Dartmouth)  Kavraki (Rice) Company: Adept Technology (San Jose)

9. Issues  Better predictive dynamic models (Mirtich)  Effective technology (MEMS or other) to generate force fields  Fast and low-cost technology