Discontinuuty detection for force-based manipulation

In manipulation, workpieces have to be placed in an exact relationship to other objects that usually constrain the possible motions of the workpiece. Thus, control of a manipulation task can often be done by detecting the changes in the set of constraints acting on the workpiece. In the case of hard positional constraints on rigid objects, the detection can be done using simple thresholds on measured forces and/or moments. When some of these constraints are non-rigid (i. e. elastic), forces and moments vary during motions even if there is no change in the constraints, making it difficult if not impossible to find appropriate thresholds for forces and moments. In such situations changes in the constraints mostly lead to discontinuities (L e. jumps and corners) in the measured force and moment signals. This paper presents a constant time algorithm for jump and corner detection in 1-dimensional sensor signals