Predicting motion behavior under contact uncertainty
Document typeExternal research report
Rights accessOpen Access
Performing complex assembly task with robots requires fine-motion planners able to cope with uncertainty and contact motions, which is a difficult issue. This report proposes a method to predict the behavior of motions under contact uncertainty in order to check the feasibility of paths generated by gross-motion planning algorithms from a nominal model of environment. This pragmatical approach enables the extension of the gross-motion planning techniques to constrained-motion planning problems, ensuring the feasibility of the task despite the uncertainty. The approach has been implemented for assembly task in the plane with three degrees of freedom.
Is part ofIOC-DT-P; 2004-18