Random execution of a set of contacts to solve the grasping and contact uncertainties in robotic tasks

• Main Authors: Chua, Alvin, Katupitiya, Jayantha, De Schutter, Joris
• Format: text
• Published: Animo Repository 2001
• Subjects: Kalman filtering; Robots—Dynamics; Mechanical Engineering
• Online Access: https://animorepository.dlsu.edu.ph/faculty_research/3482; https://animorepository.dlsu.edu.ph/context/faculty_research/article/4484/type/native/viewcontent/S0263574700002903.html
• Institution: De La Salle University

This paper addresses the problem of identifying the uncertainties present in a robotic contact situation. These uncertainties are errors and misalignments of an object with respect to its ideal position. The paper describes how to solve for the errors caused during grasping and errors present when c...