Contact analysis and verification in a 2D environment with uncertainties

This contribution presents results of a research project concerned with the planning and execution of motions in uncertain environments. In particular, the problem of a moving convex polygon within an uncertain two-dimensional environment has been investigated. The essential sub-problem of how to analyse unexpected contacts is treated. Using a set-oriented model of the uncertainties, the motion possibilities of the polygon is investigated for the different contact types. Also based on the model of the uncertainties, the potential locations of the geometric elements are constructed and intersected, giving us the contact hypotheses. With the help of exploratory motions, an attempt is made to decide between ambiguous hypotheses. The question of which exploratory motions are useful for the different contact types is also investigated. After an exploratory motion has been executed, its results must be evaluated with respect to the validity of the hypotheses. The system has been implemented and is also described in this paper.

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