Undergrad Research Project - Homogenous 3D Object Positioning through Random Robotic Arm Movements

Summer-1/All 2015

Pragna Mannam
Matthew Mason
Project description

The objective of this project is to have similarly oriented 3D objects through deterministic tray movements inspired by Kruscal’s count. If a set number of deterministic tray tilts can achieve standard positioning of 3D objects, a robot can always get to a standard position where it knows how to pick up the 3D objects. The method to achieve standard positioning is to experimentally program a robot arm to make deterministic random movements and record the resulting object motions until the pose is determined. The anticipated results include defining a deterministic movement and the minimum amount of movements required to reach a consistent position among all 3D objects on the tray. Then, the robotic arm will have to be programmed to execute the deterministic moves the minimum number of times to achieve a consistent position, wherein the robot can efficiently pick up the 3D objects. Achieving such positioning will improve manipulation of 3D objects.

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