力制御の特性を活用したPeg-in-Holeにおける軌道計画法の提案

抄録

The trajectory planning of assembly tasks, which demand high precision, such as peg-in-hole task, requires consideration on errors driven from robot control and the environmental model. This research proposes a trajectory planning method in peg-in-hole task, taking positively advantage of the trail of force control. We confirmed that the proposed method realized the peg-in-hole task. In addition, admittance control succeeded in the task in smaller contact force than position control.