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, 1998Accepted:June 5, 1998Published:June 20, 1998
Keywords:Robot, Assembly, Cylinder insertion, Flexible object, Insertion force
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:K. Sasaki, A. Brata, and S. 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.Data files: