Design and motion constraints of part-mating planning in the presence of uncertainties

The authors assume a nominal motion plan for the zero-error situation and devise a simple replanning strategy based on the availability of force, moment, and position sensors to handle errors that may arise during program execution. They develop design constraints relating the parameters of the strategy, parameters of the sensor, control and manufacturing errors, and nominal design parameters. If the constraints are satisfied, the replanning strategy can theoretically be guaranteed to be successful. The constraints are shown to be reasonable in the sense that they do not impose unrealistic conditions on typical design. Simulation results uphold the theoretical derivations and show empirically that the theoretical constraints can be relaxed somewhat with excellent results obtained