弾性板穴への円筒棒の挿入技能に関する研究 : 局所遷移回帰法による局所最小挿入力経路の探索

概要

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Recently, the robot assembly industry requires research that deals with flexible parts using human-like skills. We discuss cylinder insertion into a hole of a flexible rubber plate. We show that the magnitude of the insertion force expresses a parabolic field in the three-dimensional space that is composed of position and posture of the cylinder. The parabolic field has a tunneling path from which we can obtain the local minimum insertion force. The tunneling path seems to correspond to the position and posture of cylinder insertion by human skill. This paper proposes a new search method for the tunneling path. The method uses a simple regression model that fits the parbolic field to a narrow zone. The fitting zone shifts as the cylinder insertion advances. Experimental results show that the regression method is a possible search method for the tunneling path.
一般社団法人日本機械学会の論文
1996-07-25