A Sensorless Insertion Strategy for Rigid Planar Parts
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, Vol. 1, pp. 882 - 887, 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.
BibTeX
@conference{Balkcom-2002-8437,author = {Devin Balkcom and Jeffrey C. Trinkle and Eric J. Gottlieb},
title = {A Sensorless Insertion Strategy for Rigid Planar Parts},
booktitle = {Proceedings of (ICRA) International Conference on Robotics and Automation},
year = {2002},
month = {May},
volume = {1},
pages = {882 - 887},
keywords = {manipulation planning, wrench cones, linear complementarity, fixturing, grasping, rigid bodies},
}
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