| Control of a Shaking Belt Conveyor by a Novel Application of Floquet-Lyapunov Theory (2007) | |||||||||||||||
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| One method for realizing the self-orientation of workpieces for grasping by a robot is by means of a shaking belt conveyor. Control of small perturbations around the steady state leads to the control of a linear time-periodic system. We propose and successfully implement an approach for control based on a novel application of FloquetLyapunov theory. 1 INTRODUCTION A shaking belt conveyor was proposed in [1] to achieve the self-orientation of workpieces in flexible manufacturing systems. Workpieces, initially deposited onto the conveyor with a random orientation, would acquire a known orientation by the time they are to be grasped by a robotic manipulator (see Fig. 1) with the aid of a vision system. The task of the vision system would, therefore, consist of determining only the location of on landmark point on each workpiece, since the uncertainty regarding its orientation would have been eliminated. This would significantly alleviate the computational burden on the vision system. Th... | |||||||||||||||
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