This paper presents a geometric approach, which utilizes the geometric information about the mating parts, in generating and synthesizing the C-frame and the compliance selection vector which are needed, at every sampling instant, for the hybrid position/force control scheme in an insertion task. A geometric modeling system is used to model the mating objects involved in the insertion task. From the geometric model of the objects and the nominal position trajectory of the task, a set of “cut-planes” of the mating objects perpendicular to the insertion direction can be obtained. Each individual cut-plane provides the freedom direction and the rotation freedom information of the peg on that plane. By combining all these freedom directions and rotation freedom information, we can infer and determine the orientation of the C-frame and the compliance selection vector needed to control the manipulator to complete the insertion task. Due to the uncertainties inherent in working with real-world objects and the limited position accuracy of the manipulator, an uncertainty model is incorporated into the cut-planes to reflect the position and orientation uncertainties of the C-frame. This approach reduces a difficult three-dimensional problem into a set of two-dimensional problems and will successfully complete the task even in the presence of position and orientation uncertainties.
All Science Journal Classification (ASJC) codes
- Control and Systems Engineering
- Computer Science Applications
- Electrical and Electronic Engineering