Parameter identification of contact conditions by active force sensing

When assembly tasks are accomplished by robot manipulators, it is necessary to identify interactions between grasped objects and external environments, such as contact positions and contact type, and also contact directions. This paper discusses the identification of unknown parameters such as mentioned above. Point contact, line contact and plane contact are formulated in contact conditions. Applying this formulation, a simple scheme is proposed for identification of contact conditions by using active force sensing method. In this algorithm, contact type, contact direction and contact point can be identified