, Volume 10, Issue 2–4, pp 201–225 | Cite as

Orienting polygonal parts without sensors

  • Kenneth Y. Goldberg
Geometric Theory of Manipulation


In manufacturing it is often necessary to orient parts prior to packing or assembly. We say that a planar part ispolygonal if its convex hull is a polygon. We consider the following problem: given a list ofn vertices describing a polygonal part whose initial orientation is unknown, find the shortest sequence of mechanical gripper actions that is guaranteed to orient the part up to symmetry in its convex hull. We show that such a sequence exists for any polygonal part by giving anO[n 2 logn) algorithm for finding the sequence. Since the gripper actions do not require feedback, this result implies that any polygonal part can be orientedwithout sensors.

Key words

Robotics Parts feeding Planning Grasping Compliance Motion planning with uncertainty Compliant motion planning 


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Copyright information

© Springer-Verlag New York Inc. 1993

Authors and Affiliations

  • Kenneth Y. Goldberg
    • 1
  1. 1.Institute for Robotics and Intelligent Systems, Computer Science DepartmentUniversity of Southern CaliforniaLos AngelesUSA

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