Identification and verification of termination conditions in fine motion in presence of sensor errors and geometric uncertainties
Results are reported from a search for reasonable constraints under which an automatic uncertainty-handling strategy (for robot part-mating tasks) is guaranteed to succeed. The concept of contact formations is introduced to describe contacts among parts in a system, aiming at reducing the dimensionality of assembly verification. Also described is a technique for identifying contact formations in spite of errors in sensing and geometric uncertainties. It is impossible to verify termination conditions in general. Design constraints for which verification can be guaranteed are formulated and shown to be reasonable in the sense that they do not impose unrealistic conditions on typical designs. Results of implementation on a robot system consisting of a PUMA robot with RTI force/torque sensors support the theoretical derivations and show empirically that good results can still be obtained when the theoretical constraints are relaxed somewhat.