数字内容技术与服务研究中心知识库

Simultaneously inserting multiple objects is a significant topic in precision assembly, which involves unobservable interactive states, to compose complicated shapes. To address its difficulties, this paper investigates circular assembly of multiple objects and proposes a strategy to plan the simultaneous insertion in belief space. We first present the interactive state transition and observation of the assembly task, in which the stochastic effects are modelled as Gaussian noise, and then estimate the belief state using extended Kalman filter. An optimization approach is discussed to plan the compensational motion to decrease the estimated interactive forces and the toward-center movement is thus determined with the optimized compensation and the belief state. Experiments are carried out to demonstrate the validation of the proposed method.