Sensor-based analysis of high-precision insertion tasks
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概要
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A lot of research efforts an assembly automation problems have been given by many researchers from a variety of communities, e.g., manufacturing, robotics, artificial intelligence and so on. They mostly focused on the geometric constraints related to a considered task, e.g., relative configuration change between the peg and the hole. Such an approach, however, seems valid only when the dimensional tolerance is fairly large so that it allows to change the relative configuration of the two mating parts in an obvious fashion. 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 μm. 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. 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.
- Institute of Electrical and Electronics Engineers (IEEE)の論文
- 2002-00-00
Institute of Electrical and Electronics Engineers (IEEE) | 論文
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