Assembly by Nongrasping Manipulation

Abstract This paper deals with assembly and transportation of non-grasping manipulations, especially releasing. In releasing, a robot makes a part slide away on a plane. It has both advantages and disadvantages. Learning control using visual feedback is introduced so as to accommodate the uncertainty of the manipulation and environment. Experiments verifies that releasing is potent to construct a flexible transportation system. The research makes assembly more dexterous and flexible enough to make a Holonic Manufacturing System.

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