A Sensorless Insertion Strategy for Rigid Planar Parts

The companion paper [2] derives an algorithm that determines the external wrenches consistent with constraints on the contact interactions between two rigid planar bodies. In this paper, we show how this algorithm may be used to create sensorless plans that guarantee that a workpiece is correctly inserted into a fixture. Our method explicitly removes all wrenches consistent with undesirable contact modes, and therefore avoids the frictional indeterminacy problem.

• Type: Conference
• Year: 2002
• Where: ICRA
• Authors: Devin J. Balkcom, E. J. Gottlieb, Jeffrey C. Trinkle
• Keywords: External Wrenches, Frictional Indeterminacy Problem, ICRA 2002, Rigid Planar Bodies, Robotics