Abstract
This article presents a kinematic approach to the modelling and the motion specification of robotic manipulation tasks in which the manipulated object is constrained by contacts. The presented approach takes into account complex and time varying motion constraints, and is very appropriate to be integrated into CAD based task planning and control.
The description of the interaction between the manipulated object and other objects in its environment is based on the first and second order approximations of their geometry around the contact areas. From these geometric descriptions, the manipulated object’s nominal motion freedom and its dual, the set of possible reaction forces, are then modelled using the similarity with the kinetostatics of kinematic chains.
The kinematic approach is illustrated with the important example of the classical peg-in-hole problem. The approach offers new tools to reliably model and specify the insertion motion of the peg, even in the case of very large misalignments between the axes of peg and hole.
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© 1994 Springer Science+Business Media Dordrecht
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De Schutter, J., Bruyninckx, H., Dutré, S. (1994). Application of Computer Aided Kinematics to Modelling of Contacts in Robotic Manipulation. In: Seabra Pereira, M.F.O., Ambrósio, J.A.C. (eds) Computer-Aided Analysis of Rigid and Flexible Mechanical Systems. NATO ASI Series, vol 268. Springer, Dordrecht. https://doi.org/10.1007/978-94-011-1166-9_13
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DOI: https://doi.org/10.1007/978-94-011-1166-9_13
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