Compliant robot motion II. A control approach based on external control loops
International Journal of Robotics Research
Hierarchical mesh segmentation based on fitting primitives
The Visual Computer: International Journal of Computer Graphics
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In this paper, it is shown how robust execution of assembly skills can be planned by using sensor state space graphs. The here proposed method is evaluated by some assembly skills in which force feedback is applied. Assembly skills are implemented by manipulation primitive nets which constitute an interface between planning and execution of robotic systems. The sensor state space graph is introduced, which is an extension of the contact formation graph in a more general way, when various sensors might be used simultaneously for assembly execution. It is shown, how contact formation graphs can be generated by simulation of rigid body motions. The known contact formation graphs are enhanced by the definition of contact types between higher order surfaces. Additionally, a more general view is given by introducing sensor state space graphs. It is shown how contact formation graphs can be mapped to manipulation primitive nets, which allow the robust execution of assembly skills, despite the appearance of uncertainties. The approach is demonstrated successfully on some assembly tasks. Here the task of plugging a power socket on a top hat rail is illustrated due to its complex sequence. The shown assembly task is characterized by small fitting tolerances, where the application of force feedback is indispensable.