Identification of Contact Conditions by Active Force Sensing – Estimated Parameter Uncertainty and Experimental Verification –
Takayoshi Yamada*1, Akira Tanaka*2, Manabu Yamada*3,
Yasuyuki Funahashi*4, and Hidehiko Yamamoto*1
*1Department of Human and Information Systems, Faculty of Engineering, Gifu University, 1-1 Yanagido, Gifu 501-1193, Japan
*2MISUZU-Corp Co., Ltd, 1606 Wakasato, Nagano, Nagano 380-0922, Japan
*3Graduate School of Engineering, Nagoya Institute of Technology, Gokiso, Showa, Nagoya, Aichi 466-8555, Japan
*4Department of System Engineering of Human Body, Chukyo University, 101 Tokodachi, Kaizu, Toyota, Aichi 470-0393, Japan
Accomplishing assembly tasks using robots requires that contact conditions between grasped objects and environments be identified and controlled during task execution. We propose estimated parameter uncertainty of contact location and direction, discussing four contact types – point, soft-finger, line, and planar contact. We formulate a least-squares function (i.e., performance index) including contact location and direction. The uncertainty of estimates is derived using the rest error of minimized index. The effectiveness of our proposed method is demonstrated through experiments.
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