Abstract
A key problem in the automatic planning and execution of robotized assembly tasks is the estimation of the current contact situation using configuration and force information. This paper analyzes the force information processing necessary to achieve this goal in the case of planar movements with uncertainty. First, the off-line computation of the set of feasible reaction force directions in any contact situation of an assembly task is described. Then, the on-line classification of measured forces into one or more of the previous computed sets is presented. The method allows a fast classification of forces, compatible with the real time requirements of task execution.
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