ABSTRACT
This paper describes an approach to planar manipu lation called “1JOC” (One Joint Over Conveyor, pro nounced “one jock”) [3]. Initially the approach was conceived as a variation on the Adept Flex Feeder (see Figure 1), which is used to feed parts in automated factories. The Flex Feeder uses a system of conveyors to recirculate parts, presenting them in random ori entation to a camera and robotic manipulator. Those parts that are in a graspable configuration may then be picked up by the robot and assembled into a product, placed in a pallet, or otherwise processed.
