Sufficient conditions for the success of robotic assembly

Sufficient conditions for the success of the robotic control of assembly are presented. The assembly is modelled as a discrete event system using Petri nets. The abstraction of assembly to the discrete event system highlights the changes in the state of contact as the key points to control in the assembly process. Using this abstraction, sufficient conditions on the velocity commands are developed which guarantee successful parts mating. A method to derive robot velocity commands satisfying these conditions is derived. The method is then applied to a dual peg-in-the-hole problem