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A strategy of assembly task execution in the presence of uncertainties

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2 Author(s)
Miyaguchi, H. ; Adv. Software Technol. & Mechatronics Res. Inst., Kyoto, Japan ; Iwama, K.

This paper describes a strategy of assembly operations by robotic systems under various uncertainties, and makes clear conditions that robotic programs need to satisfy to deal with the uncertainties. A sphere in a six dimensional space is used to model the uncertainties of the position and orientation of a tip of a manipulator. The uncertainties of an operation force and torque are also modeled by a sphere in a six dimensional space. The authors' strategy keeps a manipulating object in contact with another object at the final stage of assembly operations, and controls the manipulator in a way that the force between the objects stays in the sphere of forces. The authors describe conditions on robotic programs that keep the force between the objects within the sphere

Published in:

Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on

Date of Conference:

8-13 May 1994