Orienting polygons with fences over a conveyor belt: empirical observations

This paper re-examines a part orienting technique that orients polygonal shaped parts with a series of fences suspended above a conveyor belt. We examine the effect of uncertainty in the coefficient of friction as well as the typical size of the final assembly. The search technique in the original work although resolution complete, was inefficient, so we offer a heuristic search method that offers good performance. Several fence sequences generated by our algorithm were tested on real polygonal objects