Abstract: Multi-feature workpiece is localized according to the composite feature in current multi-feature workpiece localization algorithms, while different feature plays a different role influencing the result actually. The differences between features are taken into account and the configuration space theory of multi-features is discussed in detail. Problem prescription and algorithm development of multi-feature workpiece in-order localization are then presented, referring to the symmetric workpiece localization algorithm and the computation of datum reference frames in geometric error evaluation. Workpiece is localized in order by some rule (e.g. the precision of features) using this algorithm. The results of simulation prove that it is closer to practice than others.

Key words: Algorithm, Configuration space, Difference, In-order localization, Multi-feature