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A Sensorless Insertion Strategy for Rigid Planar Parts
D. Balkcom, J.C. Trinkle, and E.J. Gottlieb
ICRA, May, 2002.

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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.

Associated center: CFR
Associated lab/group: Manipulation Lab

Number of pages: 6

D. Balkcom, J.C. Trinkle, and E.J. Gottlieb, "A Sensorless Insertion Strategy for Rigid Planar Parts," ICRA, May, 2002.

@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"
}