Shape recovery from robot contour-tracking with force feedback

A process for shape recovery from robot contour-tracking operations with force feedback is described. Shape recovery is an important task for self-teaching robots and for exploratory operations in unknown environments. An algorithm which directs a position controlled robot around an unknown planar contour using the steady-state contact force information is described. A compensation process is explored for purposes of planar shape recovery. It is found through experimentation that the joint compliance is most conveniently compensated for in practice. Improvements in the shapes recovered from robot contouring are seen with the compensations. Experimental details and difficulties are also discussed