 
A. Gasparetto, S. Miani  
A system for automatic orientation of items for robotic manipulation purposes  
Tehnička Dijagnostika / Technical Diagnostics, vol. 12, n. 4, 2013, pp. 711  
  Abstract: A system for automatic orientation of items for robotic manipulation is presented in this paper. The system is made of a sequence of fixed flat fences, adequately oriented on a conveyor belt, so as to make the item on the belt slide along every fence and find itself aligned with a desired orientation, when leaving the last fence. The aim of the system is to avoid the need of sensors to determine position and orientation of the item, thus allowing to perform the manipulation of the item task using an openloop strategy. A simple and robust mathematical model to compute the "exit angle" (defined as the orientation of the item when leaving the last fence) as a function of the number and orientation of the fences is presented. Simulation and experimental tests have been carried out in order to prove the effectiveness of the system.  
  Area: Robotica  

