Path validation in constrained motion with uncertainty

The performance of tasks with robots in environments with low clearances (e.g. robotized assembly) is usually difficult, due mainly to geometric uncertainty and tolerances. Following a pragmatical approach to planar constrained-motion planning, this paper proposes a method for checking the feasibility of paths generated by gross-motion planning algorithms, taking into account the uncertainties affecting the task and the use of a compliant control mode. The method enables the extension of gross-motion planning techniques to constrained-motion planning problems, ensuring the feasibility of the task despite the uncertainties.