Positioning polygonal parts without sensors

摘要

Abstract: It has been shown that given any polygonal part, it is possible to derive a sequence of grasping operations that are sufficient to orient the part up to symmetry without sensors. At the conclusion of such a sequence, one degree of translational freedom is part position remains. This paper describes how to eliminate that degree of freedom with a sequence of pushing motions. Thus we show that sensors are not necessary to uniquely determine the final position and orientation of polygonal parts.!22