Parameter Identification of Contact Conditions by Active Force Sensing.

When assembly tasks are performed by robot manipulators, it is necessary to identify interactions between grasped objects and external environments such as contact positions and conditions, which are DOFs at contact point and contact directions. This paper discusses the identification of unknown parameters such as those mentioned above, when grasped objects are exposed to external environments. The general formulation of contact conditions is presented. Applying this formulation, a scheme is presented for identification of contact conditions by using the active force sensing method.