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A new Robotic Assembly Skill (RAS) modeling framework is proposed. An assembly skill is a primitive that encapsulates the capabilities to coordinate, control and supervise an elementary robot task. To gain reusability of a primitive in alike robot tasks, the primitives are represented as generic templates that are parametrized for each situation with data from an assembly specification. A skill is...
For tasks in robotic assembly, a basic requirement is the capability of the robotic system to detect contacts with the environment. While this information can readily be obtained from dedicated force-torque sensors, it might either be technically difficult to mount such sensors or too expensive to do so. In this paper, an alternative approach is presented which reconstructs the external forces and...
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