scholarly journals Kinematic Analysis of Contact State Transitions in Assembly Operations and Automatic Generation of Transition Network

1988 ◽  
Vol 24 (4) ◽  
pp. 406-413 ◽  
Author(s):  
Shinichi HIRAI ◽  
Haruhiko ASADA ◽  
Hidekatsu TOKUMARU
Keyword(s):  
Kinematic Analysis ◽  
Automatic Generation ◽  
State Transitions ◽  
Contact State ◽  
Transition Network ◽  
Assembly Operations

A Framework for Automatic Generation of a Contact State Graph for Robotic Assembly

2011 ◽  
Vol 25 (13-14) ◽  
pp. 1603-1625 ◽  
Author(s):  
Sung Jo Kwak ◽  
Tsutomu Hasegawa ◽  
Seong Youb Chung
Keyword(s):  
Automatic Generation ◽  
Robotic Assembly ◽  
State Graph ◽  
Contact State

Recognition of Contact States: Validation of Planning With Principal Contacts (PCS)

2000 ◽  
Author(s):  
Jayavardhan N. Marehalli ◽  
Robert H. Sturges
Keyword(s):  
High Precision ◽  
Contact Force ◽  
Abrupt Change ◽  
Careful Study ◽  
State Recognition ◽  
Contact State ◽  
Contact Information ◽  
Assembly Operations ◽  
Assembly Tasks ◽  
Inherent Advantage

Abstract In high precision assembly tasks, contact motion is common and often desirable. These events entail a careful study of contact states of the parts being assembled. Recognition of contact states is crucial in planning and executing contact motion plans due to inevitable uncertainties. Xiao [3] introduced the concept of principal contacts (PC) and contact formation (CF) for contact state recognition. The concept of using CFs (as sets of PCs) has the inherent advantage that a change of CF is often coincident with a discontinuity of the general contact force (force and torque). Previous work [1,2] in contact motion planning has shown that contact information at the level of PCs along with the sensed location and force information is often sufficient for planning high precision assembly operations. In this paper, we present results from experiments involving planned contact motions to validate the notion of PCs and CFs, specifically that an abrupt change in general contact force often accompanies a change between CFs. We present results for the general 2D peg-in-corner problem.

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