A replanning approach towards uncertainty handling in robot assembly

The authors introduce a replanning approach toward robot planning for assembly tasks by assuming the existence of a nominal robot motion plan and developing replanning strategies to handle failures due to uncertainties or errors. Specifically, they extend the concept of contact formations by defining contact planes and abstract obstacles, on the basis of which a patch-planning strategy is developed and evaluated; the strategy can generate patch-plans in real time to resolve unplanned contacts between the object being moved and its environment due to uncertainties and lead the object to its nominal goal. The authors also introduce motion strategy planning an constraints which are necessary to guarantee the success of a high-precision assembly task