Manipulation of Pose Distributions
Abstract
For assembly tasks parts often have to be oriented before they can he put in an assembly. The results presented in this report are a component of the automated design of parts orienting devices. The focus is an orienting parts with minimal sensing and manipulation. We present a new approach to parts orienting through the manipulation of pose distributions. Through dynamic simulation we can determine the pose distribution for an object being dropped from an arbitrary height onto an arbitrary surface. By varying the drop height and the shape of the support surface we can find the initial conditions that will result in a pose distribution with minimal entropy. We are trying to uniquely orient a part with high probability just by varying the initial conditions. We will dervice a condition on the pose and velocity of an object in contact with a sloped surface that will allow us to quickly determine the final resting configuration of the object. This condition can then be used to quickly compute the pose distribution. We also present simulation and experimental results that show how dynamic simulation can be used to find optimal shapes and drop heights for a given part.
Document Details
- Document Type
- Technical Report
- Publication Date
- Mar 13, 2000
- Accession Number
- ADA376871
Entities
People
- Mark Moll
- Michael A. Erdmann
Organizations
- Carnegie Mellon University