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This letter investigates “cage feeders”—a new sensorless part orientation method. The individual, unoriented parts are enclosed in rigid, round, vibrated cages, where almost all objects turn spontaneously into a unique orientation under the influence of gravity. An algorithm is presented for the determination of the range of acceptable cage sizes for polygonal or polyhedral parts. The viability of...
While much progress has been achieved in task-space control of robot, existing task-space sensory feedback control methods fail when the sensor is out of working range. In this paper, we propose an adaptive regional feedback control strategy that enables the robot to start from an initial position outside the field of view and leave the field of view during the movement. The robot kinematics is partitioned...
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