Condition and Strategy Analysis for Assembly Based on Attractive Region in Environment.

Automatic assembly with high precision is an essential step in robotic manipulation. It is still a difficult problem due to various complicated requirements, such as less contact force, irregular shapes of the parts, sensing information understanding in complex environment, etc. In the previous work, the concept of attractive region in environment (ARIE) was proposed, which helps to achieve high-precision manipulation with low-precision systems by using the constraints formed by the environment. In this paper, the general relation between the physical space and the configuration space for the robotic assembly system will be analyzed, the strategies of using ARIE to achieve high-precision peg-hole assembly will be provided, and furthermore, practical examples for industrial applications will be given, which further illustrates the usefulness of the concept. [ABSTRACT FROM PUBLISHER]