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ICRA
2002
IEEE

A Sensorless Insertion Strategy for Rigid Planar Parts

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A Sensorless Insertion Strategy for Rigid Planar Parts
The companion paper [2] 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.
Devin J. Balkcom, E. J. Gottlieb, Jeffrey C. Trink
Added 15 Jul 2010
Updated 15 Jul 2010
Type Conference
Year 2002
Where ICRA
Authors Devin J. Balkcom, E. J. Gottlieb, Jeffrey C. Trinkle
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