Insertion of long peg into tandem shallow hole using search trajectory generation without force feedback

Takayuki Matsuno, Toshio Fukuda, Yasuhisa Hasegawa

Research output: Chapter in Book/Report/Conference proceedingConference contribution

11 Citations (Scopus)

Abstract

In this paper we propose a method to insert a long peg into a tandem shallow hole using search trajectory generation without force feedback. Automation of the assembly in a factory progressed in recent years. However the many processes where workers should assemble products by themselves still remain now. We call these processes "difficult assembly". The difficult assembly has the feature that a mating part has a unique shape. The RCC (Remote Center Compliance) is an effective method for assembly, but it is no longer useful on the condition that mating parts are complex. The RCC device has no durability since it is a product made from rubber, in addition a force sensor is expensive. If a robot could accomplish the assembly task without using those devices there is a advantage in terms of expense and durability. In our approach, the manipulator system inserts a long peg into the hole with switching the trajectory generation methods depending on the task condition.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages1123-1128
Number of pages6
Volume2004
Edition2
Publication statusPublished - 2004
Externally publishedYes
EventProceedings- 2004 IEEE International Conference on Robotics and Automation - New Orleans, LA, United States
Duration: Apr 26 2004May 1 2004

Other

OtherProceedings- 2004 IEEE International Conference on Robotics and Automation
CountryUnited States
CityNew Orleans, LA
Period4/26/045/1/04

Fingerprint

Trajectories
Feedback
Durability
Manipulators
Industrial plants
Rubber
Automation
Robots
Sensors
Compliance

Keywords

  • Force Sensor-less
  • Peg-In-Hole Problem
  • Search Trajectory Generation

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering

Cite this

Matsuno, T., Fukuda, T., & Hasegawa, Y. (2004). Insertion of long peg into tandem shallow hole using search trajectory generation without force feedback. In Proceedings - IEEE International Conference on Robotics and Automation (2 ed., Vol. 2004, pp. 1123-1128)

Insertion of long peg into tandem shallow hole using search trajectory generation without force feedback. / Matsuno, Takayuki; Fukuda, Toshio; Hasegawa, Yasuhisa.

Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2004 2. ed. 2004. p. 1123-1128.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Matsuno, T, Fukuda, T & Hasegawa, Y 2004, Insertion of long peg into tandem shallow hole using search trajectory generation without force feedback. in Proceedings - IEEE International Conference on Robotics and Automation. 2 edn, vol. 2004, pp. 1123-1128, Proceedings- 2004 IEEE International Conference on Robotics and Automation, New Orleans, LA, United States, 4/26/04.
Matsuno T, Fukuda T, Hasegawa Y. Insertion of long peg into tandem shallow hole using search trajectory generation without force feedback. In Proceedings - IEEE International Conference on Robotics and Automation. 2 ed. Vol. 2004. 2004. p. 1123-1128
Matsuno, Takayuki ; Fukuda, Toshio ; Hasegawa, Yasuhisa. / Insertion of long peg into tandem shallow hole using search trajectory generation without force feedback. Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2004 2. ed. 2004. pp. 1123-1128
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