抄録
This paper deals with a precise insertion processing (Peg-in-hole task) for speeding up and increasing efficiency in factory automation. When the clearance between the peg and the hole is narrower than the positioning accuracy of the robotic manipulator; for example, the former is 10[μm] and the latter is ±20[μm], it is near-impossible to insert the peg into the hole. Moreover in the case a robotic hand holds a plastic ring and inserts it into a shaft, the deformation of the ring makes the process more difficult. In order to solve these accuracy and deformation issues, we propose a novel insertion algorithm based on Passive Alignment Principle (PAP). When the ring is pressed against the shaft, the centers of them get together by the PAP effect so that the positioning error is corrected. Additionally, a robotic hand can relax the grip force without dropping the ring because of the friction of the contact points. So the ring deformation can be reduced. We conducted insertion experiments with the proposed algorithm. The experimental results validate our proposed method.
