2P1-W09 Development of a Practical Procedure to Tune Force-based Control of Peg-In-Hole Assembly Using Parameter Effect Analysis

Abstract

A basic procedure to tune force-based control of peg-in-hole assembly was developed based on the parameter effect analysis using dynamics simulations. With respect to each stage of the generalized programming process that was distilled from the observations of professional engineers' demonstrations, relations between performance indices and control parameters were investigated and organized into a parameter-tuning procedure. The resultant procedure's utility was tested with a real robot system.