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JRM Vol.10 No.3 pp. 197-202
doi: 10.20965/jrm.1998.p0197
(1998)

Paper:

Cylinder Insertion into Hole of Flexible Rubber Plate – Path Search for Local Minimum Insertion Force by Shifting Fitted Zone Regression –

Keiji Sasaki, Akas Sureng Brata and Shigeyuki Shimachi

Faculty of Engineering, Iwate University, 4-3-5 Ueda, Morioka-shi, Iwate 020-8551, Japan

Received:
May 6, 1998
Accepted:
June 5, 1998
Published:
June 20, 1998
Keywords:
Robot, Assembly, Cylinder insertion, Flexible object, Insertion force
Abstract

We discuss cylinder insertion into a hole of a flexible rubber plate, which is an example of research the robot assembly industry requires for dealing with flexible parts using human-like skills. We show that the magnitude of insertion force expresses a hyperbolic field in three-dimensional space composed of position and posture of a cylinder. The hyperbolic field has a tunneling path from which can obtain local minimum insertion force. This path appears to correspond to the position and posture of cylinder insertion using human skill. We propose a search for the tunneling path that uses a simple regression model that fits the hyperbolic field to a narrow zone. The fitting zone shifts as cylinder insertion advances. Results show that regression is a possible search method for the tunneling path.

Cite this article as:
Keiji Sasaki, Akas Sureng Brata, and Shigeyuki Shimachi, “Cylinder Insertion into Hole of Flexible Rubber Plate – Path Search for Local Minimum Insertion Force by Shifting Fitted Zone Regression –,” J. Robot. Mechatron., Vol.10, No.3, pp. 197-202, 1998.
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