Computing fence designs for orienting parts

Computing fence designs for orienting parts

A common task in automated manufacturing processes is to orient parts prior to assembly. We consider sensorless orientation of a polygonal part by a sequence of fences. We show that any polygonal part can be oriented by a sequence of fences placed along a conveyor belt, thereby settling a conjecture by Wiegley et al. [17], and present the rst polynomial-time algorithm to compute the shortest su...

Orienting Toleranced Polygonal Parts Orienting Toleranced Polygonal Parts

Parts manufactured to tolerances have variations in shape. Most previous work in robotic manipulation assumes that parts do not have shape variations. Orienting devices such as bowl feeders often fail due to variations in part shape. We study the effects of uncertainty in part shape on orienting to develop systems that can orient toleranced polygonal parts. We present a tolerance model in which...

Orienting Toleranced Polygonal Parts

Parts manufactured to tolerances have variations in shape. Most previous work in robotic manipulation assumes that parts do not have shape variations. Orienting devices such as bowl feeders often fail due to variations in part shape. We study the effects of uncertainty in part shape on orienting to develop systems that can orient toleranced polygonal parts. We present a tolerance model in which...

Orienting Polyhedral Parts by Pushing

Parts Orienting with Shape Uncertainty

Parts manufactured to tolerances have shape variations. Most work in robotic manipulation assumes that part shape does not vary. Orienting devices such as bowl feeders frequently fail due to variations in part shape. In this paper we develop techniques to orient parts with shape uncertainty. We present a shape uncertainty model and describe the nondeterminism in parts orienting that arises from...