Compliant-motion planning and execution for robotic assembly

This paper presents a method for the planning and execution of compliant motions within the scope of a two-phase fine-motion planner for the performance of planar assembly tasks with robots. Algorithms are provided to find a nominal solution path in both free and contact configuration space which is feasible in spite of the uncertainties affecting the task. Compliant-motion commands based on the generalized damping control mode are synthesized to follow this path, allowing to maintain a constant bounded force