Abstract
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In this paper, a new method for adjusting the height of a cylindrical pair in a static environment is presented. Generic force formulations are established. A technique to uniquely identify the type of contact based on the force and torque data provided by a wrist mounted F/T sensor is developed. For small clearances between the links, the assumption of using zero misalignment in the formulations is justified by means of simulations. Friction, which is a key parameter for contact type identification is experimentally determined. Preliminary experimental results indicate that the presented technique is effective in determining the type of contact for the height adjustment operation.