A Sensorless Insertion Strategy for Rigid Planar Parts

Devin Balkcom, Jeffrey C. Trinkle, and Eric J. Gottlieb
ICRA, May, 2002.


Abstract
The companion paper (Balkcom, Trinkle, Gottlieb, ICRA 2002) derives an algorithm that determines the external wrenches consistent with constraints on the contact interactions between two rigid planar bodies. In this paper, we show how this algorithm may be used to create sensorless plans that guarantee that a workpiece is correctly inserted into a fixture. Our method explicitly removes all wrenches consistent with undesirable contact modes, and therefore avoids the frictional indeterminacy problem.

Keywords
manipulation planning, wrench cones, linear complementarity, fixturing, grasping, rigid bodies

Notes
Associated Center(s) / Consortia: Center for the Foundations of Robotics
Associated Lab(s) / Group(s): Manipulation Lab
Number of pages: 6

Text Reference
Devin Balkcom, Jeffrey C. Trinkle, and Eric J. Gottlieb, "A Sensorless Insertion Strategy for Rigid Planar Parts," ICRA, May, 2002.

BibTeX Reference
@inproceedings{Balkcom_2002_4000,
   author = "Devin Balkcom and Jeffrey C. Trinkle and Eric J. Gottlieb",
   title = "A Sensorless Insertion Strategy for Rigid Planar Parts",
   booktitle = "ICRA",
   month = "May",
   year = "2002",
}