抄録
In this paper, robustness condition for robot trajectory against environmental variation and effectiveness of direct teaching are discussed based on the parameter space expression, through a case study of the flexible part insertion whose hole position is intentionally varied. According to the experimental results, the trajectories in which flexible part is actively bended are more robust than other trajectories. Moreover jamming between the flexible part and the hole tends to occur if the part is highly flexible. These results suggest that analysis of material deformation is required in order to theoretically analyze the robustness conditions. However, analytical approach to generate robot trajectories by using, e.g., FEM, is not easy and takes much time, and seems not practical for factory automation such as robotic cell production. Therefore, it is concluded flexible part insertion requires direct teaching method to generate robust trajectories.
