Intelligent use of attractive regions in the environment in robotic assembly

Strategy investigation is a process to design the input to move the system from the initial state region to the goal state region through a series of sub-goals. In practice, all complicated tasks need to be divided into several sub-tasks. The concept of attractive region is considered for motion planning with uncertainty. It is pointed out that: (i) the concept of attractive region in strategy investigation provides a logic method in motion planning, (ii) the attractive regions can be formed in either sensor-based or sensor-less systems, (iii) the condition of existence of attractive regions in sensor-based system gives a principal in sensor selection and the commanded action based on sensory signal, (iv) the relationship of some system in physical space and its motion region in configuration space is analysed, which can be used to identify the existence of attractive regions of the system in physical space, and (v) it has been proven that (a) the attractive regions exist in all robotic assembly systems and, (b) through intelligent use of the attractive regions, high-precision robotic assembly can be easily achieved without force sensors and flexible wrists.