Detection of a contact point using a force sensor without information on part geometry in remote mating as planer motion

Abstract

This paper describes the improvement of a system to perform remote assembly work using a haptic device with a single degree of freedom. Assembly has generally 6 degrees of freedom, but it is composed of the repetition of motions in a two-dimensional plane, when we focus on one operation.In this paper, we propose detection of a contact point using a force sensor without geometry information of parts in the planar parts mating tasks, and report how the inclination from a supposed two-dimensional plane effects on the error of detection result.