A General Method for Autonomous Assembly of Arbitrary Parts in the Presence of Uncertainty
Shichen Cao,Jing Xiao,Shichen Cao,Jing Xiao
In this paper, we propose a novel and general method for autonomous robotic assembly of arbitrary and complex-shaped parts in the presence of 6-dimensional uncertainty. When a nominal assembly motion of the robot holding a part is stopped by contact due to uncertainty, our method finds the best estimate for the uncertainty and the contact configuration of the part based on sensed force/torque and ...
