A sensorless insertion strategy for rigid planar parts

The companion paper (see ibid. "Computing wrench cones for planar contact tasks", p869 (2002)) derives an algorithm that determines the external wrenches consistent with constraints on the contact interactions between two rigid planar bodies. In this paper, we show how this algorithm may be used to create sensorless plans which guarantee that a workpiece is correctly inserted into a fixture. Our method explicitly removes all wrenches consistent with undesirable contact modes, and therefore avoids the frictional indeterminacy problem.