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

Takayuki Matsuno, Toshio Fukuda, Yasuhisa Hasegawa

Research output: Contribution to journalConference article

12 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
Pages (from-to)1123-1128
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume2004
Issue number2
DOIs
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

Keywords

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

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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