JRM Vol.16 No.6 pp. 613-621
doi: 10.20965/jrm.2004.p0613


Insertion of Long Peg into Tandem Shallow Hole Using Search Trajectory Generation

Takayuki Matsuno*, Toshio Fukuda*, and Yasuhisa Hasegawa**

*Department of Micro-Nano Systems Engineering, Nagoya University, 1 Furo-cho, Chikusa-ku, Nagoya 464-8603, Japan

**Graduate School of Systems and Information Engineering, University of Tsukuba, 1-1-1 Tennodai, Tsukuba, Ibaraki 305-8573, Japan

April 22, 2004
September 21, 2004
December 20, 2004
robotic assembly, peg-in-hole, force sensor-less, search trajectory generation, floating unit
In this paper, we propose a method to insert a long peg into a tandem shallow hole using search trajectory generation without force feedback. The use of RCC (Remote Center Compliance) is a possible solution for robotic assembly, but it is no longer useful when the remote center cannot be set correctly. We focus a task to insert a peg into the tandem shallow hole as an example that cannot be accomplished by robots using RCC devices. For this task, firstly, a new peg insertion method using search trajectory generation is proposed to continuously adjust the peg position. Secondly, a floating unit is made in order to reduce the number of positions to be corrected. And then, a method to estimate an indication of the insertion axis and a method to revise the inclination in order to avoid a jamming phenomenon are also proposed. Finally, the effectiveness of these methods is verified by an experiment.
Cite this article as:
T. Matsuno, T. Fukuda, and Y. Hasegawa, “Insertion of Long Peg into Tandem Shallow Hole Using Search Trajectory Generation,” J. Robot. Mechatron., Vol.16 No.6, pp. 613-621, 2004.
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