Modelling the B-spline surface uncertainties when localizing work objects with complicated surfaces

In this paper we propose a method to model the spatial uncertainties of the B-spline surface patch and consider the effect of work object localization uncertainties. The spatial uncertainties are analysed by studying the error covariance matrix: eigenvalues in the direction of the eigenvectors. The methods are tested with an actual robot system and Monte Carlo simulation. We also give results from the behaviour of the system when the level of input noises are changing and study the resulting uncertainties.