A method of examining uniqueness in determining the directions of robotic motions on the basis of contact relationships in an assembly plan

This paper proposes a method of examining whether a plan of mating objects is successfully performed under given uncertainties; in particular, the method examines whether a contact relationship among objects determines uniquely the direction of a robot motion. It first discusses the motivation for developing such a method, and then describes the method. In the method, uncertainties about objects are considered to be differences between the configurations of objects in a planned world and those in a real world, and are modeled as a region in the configuration space. The uncertainties in the region are examined in one dimension at one time when the plan of mating objects adds a contact relationship among the objects in the dimension