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

Paper:

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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
Creative Commons License
Keywords:
robotic assistance, human-robot collaboration, peg-and-hole alignment, coarse-to-fine strategy, high-speed vision
Abstract

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.

Alignment strategy mimicking annular solar eclipse

Alignment strategy mimicking annular solar eclipse

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.
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Last updated on Dec. 02, 2024