Modeling Uncertainty for Planar Meso-Scale Manipulation and Assembly

摘要

While robotic assembly at the centimeter and meter length scale is well understood and is routine in the manufacturing industry, robotic grasping and manipulation for meso-scale assembly at the millimeter and sub-millimeter length scales are much more difficult. This paper explores an possible way to manipulate and assemble planar parts using a micro-manipulator with a single probe capable of pushing parts on a planar surface with visual feedback. Specifically, we describe a study of the uncertainty associated with planar surface friction with a goal of developing a model of manipulation primitives that can be used for assembly. We describe a series of experiments and data analysis algorithms that allow us to identify the main system parameters for quasi-static operation, including the friction coefficient and the force distribution, while characterizing the uncertainty associated with these parameters. This allows us to bound the range of motions resulting from the uncertainty, which is necessary to design robust open-loop meso-scale manipulation and assembly motion plans.