3 accepted papers
This paper addresses human-robot collaborative (HRC) precision assembly that complements natural human ability and the strength of an autonomous robot system. Our approach enables both flexibility and efficiency of tight-clearance assembly of various complex-shaped parts in the presence of uncertain…
This paper presents a general approach for autonomous tight-clearance assembly of complex-shaped parts using a general-purpose robot manipulator equipped with a force/torque (F/T) sensor. Such autonomous assembly is challenging in the presence of relative part pose uncertainty due to inaccuracies in
In this paper, we propose a novel and general method for autonomous robotic assembly of arbitrary and complex-shaped parts in the presence of 6-dimensional uncertainty. When a nominal assembly motion of the robot holding a part is stopped by contact due to uncertainty, our method finds the best esti…