PLANNING AND CONTROL OF ROBOTIC ASSEMBLY MANIPULATION

Robotic assembly manipulation (RAM) is an important topic in the field of robotics. Being different from such tasks as welding and painting, RAM is a kind of constrained motion manipulation, which should be planned and controlled under the consideration of contact constraints and various uncertainties. In this paper, the planning and control strategies for RAM are surveyed in detail and some typical cases of RAM are studied. In the end, several important issues to understand the mechanics of RAM are proposed for further study in the future.