Complete algorithm for designing passive fences to orient parts

Jeff Wiegley*, Ken Goldberg, Mike Peshkin, Mike Brokowski

*Corresponding author for this work

Research output: Contribution to journalConference articlepeer-review

25 Scopus citations


Peshkin and Sanderson [19] showed that parts can be aligned as they move on a conveyor belt against a passive sequence of fences. In this paper we describe the first complete algorithm to design such sequences for a given convex polygonal part. The algorithm is complete in the sense that it is guaranteed to find a design if one exists and to determine with a negative report otherwise. Based on an exact breadth-first search of the design space, the algorithm is also guaranteed to find the design requiring the fewest fences. We describe the algorithm and compare results with those previously reported. We conjecture that a fence design exists to orient any convex polygonal part defined by a sequence of rational vertices.

Original languageEnglish (US)
Pages (from-to)1133-1139
Number of pages7
JournalProceedings - IEEE International Conference on Robotics and Automation
StatePublished - Jan 1 1996
EventProceedings of the 1996 13th IEEE International Conference on Robotics and Automation. Part 1 (of 4) - Minneapolis, MN, USA
Duration: Apr 22 1996Apr 28 1996

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering


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