Automatic Generation of Probing Operation for Estimating Contact Position between Object and Environment.

摘要

There are positional and geometric uncertainties in assembly operation. In order to perform an assembly operation by robot successfully, it is necessary to estimate the correct position and geometric information of a fixed environment. Authors have given a technique that can estimate the contact position and geometric information between the object and the environment from a number of positions and orientations of a moving object, which are measured while the object is dexterously probed on the environment around the contact position. This paper considers proposing a method for generating the probing operations automatically. Firstly, the realizability of probing operation on a contact position is discussed. Then, automatic generation approaches for probing operations are described. Lastly, numerical example verification on the proposed approaches is performed and its results are outlined.