NDLI: Automatic verification of contact states taking into account manipulator constraints

Content Provider	IEEE Xplore Digital Library
Author	Meeussen, W. Jing Xiao De Schutter, J. Bruyninckx, H. Staffetti, E.
Copyright Year	2004
Description	Author affiliation: Dept. of Comput. Sci., North Carolina Univ., Charlotte, NC, USA (Meeussen, W.; Jing Xiao)
Abstract	Compliant motion is required or desirable in many robotic tasks, especially assembly tasks. Both planning and execution of autonomous compliant motion requires the knowledge of contact states between parts in contact beforehand. Previous research has addressed automatic generation of contact states between rigid objects. However, not all such contact states can be possibly reached if a rigid object is attached to and moved by a manipulator due to the manipulator constraints. In this paper, we study the problem of finding feasible contact states between a polyhedral part A held by a manipulator with a fixed base and a fixed polyhedral part B. Given a contact state graph between the unattached part A and the fixed part B, our approach then attaches A to the manipulator model and checks the reachability of each contact state and the connection between two neighboring contact states by applying a virtual compliant controller to the manipulator to test possible compliant motions of A. Implementation results validate the effectiveness of our method.
Sponsorship	IEEE Robotics and Automation Soc
Starting Page	3583
Ending Page	3588
File Size	470811
Page Count	6
File Format	PDF
ISBN	0780382323
ISSN	10504729
DOI	10.1109/ROBOT.2004.1308808
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2004-04-26
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Manipulators Robots Motion control Personal communication networks Motion planning Robotics and automation Computer science Mechanical engineering Robotic assembly Testing
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
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9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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