## Abstract

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 language | English (US) |
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Title of host publication | Unknown Host Publication Title |

Publisher | IEEE |

Pages | 696-701 |

Number of pages | 6 |

ISBN (Print) | 0818607874 |

State | Published - Jan 1 1987 |

## ASJC Scopus subject areas

- Engineering(all)