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JRM Vol.34 No.5 pp. 946-955
doi: 10.20965/jrm.2022.p0946
(2022)

Paper:

Robotic Assistance for Peg-and-Hole Alignment by Mimicking Annular Solar Eclipse Process

Shouren Huang*1, Kenichi Murakami*2, Masatoshi Ishikawa*1,*3, and Yuji Yamakawa*4

*1Data Science Division, Information Technology Center, The University of Tokyo
7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan

*2Department of Mechanical and Biofunctional Systems, Institute of Industrial Science, The University of Tokyo
4-6-1 Komaba, Meguro-ku, Tokyo 153-8505, Japan.

*3Tokyo University of Science
1-3 Kagurazaka, Shinjuku-ku, Tokyo 162-8601, Japan

*4Interfaculty Initiative in Information Studies, The University of Tokyo
4-6-1 Komaba, Meguro-ku, Tokyo 153-8505, Japan

Received:
March 28, 2022
Accepted:
June 27, 2022
Published:
October 20, 2022
Keywords:
robotic assistance, human-robot collaboration, peg-and-hole alignment, coarse-to-fine strategy, high-speed vision
Abstract
Robotic Assistance for Peg-and-Hole Alignment by Mimicking Annular Solar Eclipse Process

Alignment strategy mimicking annular solar eclipse

This study focuses on robotic assistance for peg-and-hole alignment with micrometer-order clearance. The objective of the robotic assistance is to cooperate with a human operator based on a coarse-to-fine strategy in which the human operator conducts coarse alignment and the robotic assistance realizes fine alignment. Robotic-assisted fine alignment is achieved by mimicking the process toward annularity of an annular solar eclipse. The first principal axis of a specified image feature (we call it a eclipse feature) is calculated by subtracting the surfaces of a hole part (a small gear with an inner diameter of 1 mm) and a peg part (a shaft with a diameter of 0.95 mm). Accordingly, control strategy is developed to realize accurate alignment. Moreover, the effectiveness of the proposed method is verified by experimental evaluation.

Cite this article as:
S. Huang, K. Murakami, M. Ishikawa, and Y. Yamakawa, “Robotic Assistance for Peg-and-Hole Alignment by Mimicking Annular Solar Eclipse Process,” J. Robot. Mechatron., Vol.34, No.5, pp. 946-955, 2022.
Data files:
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Last updated on Dec. 01, 2022