Sensor-based analysis of high-precision insertion tasks

This paper investigates the mechanism of a high-precision insertion process from the viewpoint of sensory information. Tolerance considered in the present study is approximately 5 /spl mu/m. Currently the assembly task is being conducted by skilled human workers. In order to analyze the insertion task, we focus on force and moment information and inclination measurements. A conventional approach, i.e. a position-based analysis, is not appropriate for such a narrow dimensional tolerance because it is unlikely that human operators conduct the task based on position information. This paper presents a newly developed, high-sensitivity moment sensor and experimental results in high-precision insertion tasks.

[1]  Tatsuo Goto,et al.  Precision Insertion Control Robot and Its Application , 1976 .

[2]  Daniel E. Whitney,et al.  Quasi-Static Assembly of Compliantly Supported Rigid Parts , 1982 .

[3]  Ryuichi Yokogawa,et al.  Evaluation of task-performance of a manipulator for a peg-in-hole task , 1997, Proceedings of International Conference on Robotics and Automation.

[4]  G. Dakin,et al.  Contact space analysis for narrow-clearance assemblies , 1993, Proceedings of 8th IEEE International Symposium on Intelligent Control.

[5]  Tanneguy Redarce,et al.  Robotic Assembly by Slight Random Movements , 1991, Robotica.

[6]  Yoshio Yamamoto,et al.  Measurement of force sensory information for the automation of ultra-precision assembly tasks , 2001, 2001 IEEE/ASME International Conference on Advanced Intelligent Mechatronics. Proceedings (Cat. No.01TH8556).

[7]  Hendrik Van Brussel,et al.  A self-learning automaton with variable resolution for high precision assembly by industrial robots , 1982 .

[8]  Giovanni C. Pettinaro.  Behaviour-based peg-in-hole , 1999, Robotica.

[9]  Warren P. Seering,et al.  Automated assembly with systems having significant manipulator and part location errors , 1987, Proceedings. 1987 IEEE International Conference on Robotics and Automation.

[10]  Hong Qiao,et al.  Fine Motion Strategies for Robotic Peg-Hole Insertion , 1995 .

[11]  Yangmin Li,et al.  Hybrid control approach to the peg-in hole problem , 1997, IEEE Robotics Autom. Mag..

[12]  Roderic A. Grupen,et al.  Learning admittance mappings for force-guided assembly , 1994, Proceedings of the 1994 IEEE International Conference on Robotics and Automation.

[13]  Michael A. Peshkin,et al.  Admittance matrix design for force-guided assembly , 1992, IEEE Trans. Robotics Autom..

[14]  Hirofumi Nakagaki,et al.  Study of insertion task of a flexible beam into a hole , 1995, Proceedings of 1995 IEEE International Conference on Robotics and Automation.