Contact Point identification in robot assembly strategies under uncertainty

摘要

In this paper a method for the reduction of the uncertainties in robotised assembly process is presented. The generated assembly strategies are based on the determination of the contact points. The assembly task is divided in two main subtasks, the initial and the main. To reduce the uncertainty of the process a deliberate misalignment of the peg is used. This paper is focused on the determination of the position and the forces at the contact points between the peg and hole under uncertainty. The available data are the force signal retrieved from the force sensor, the geometry of the assembly parts and the geometry of the robot. The analysis presented in this paper is a part of a knowledge-based system, which generates assembly strategies under the presence of uncertainties.