M. A. Peshkin*, A. C. Sanderson

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

18 Scopus citations


A configuration map is defined and computed, mapping all configurations of a part before an elementary manipulative operation to all possible outcomes. Configuration maps provide a basis for planning the operation sequences which occur in parts-feeder designs or in more general sensorless manipulation strategies for robots. Sequences of elementary operations are represented as matrix-products of configuration maps for the individual operations. Efficient methods for searching the space of all operations are described. As an example, a class of parts feeders based on a conveyor belt is considered. Parts arrive on the belt in random initial orientations. By interacting with a series of stationary fences angled across the belt, the parts are aligned into a unique final orientation independent of their initial orientation. The planning problem is to create (given the shape of part) a sequence of fences which will align that part. The automated design of such parts feeders is demonstrated.

Original languageEnglish (US)
Title of host publicationUnknown Host Publication Title
Number of pages6
ISBN (Print)0818607874
StatePublished - Jan 1 1987

ASJC Scopus subject areas

  • Engineering(all)


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