Abstract
A method of the description and estimation of the task state of a robot by means of fuzzy sets is proposed. It is necessary to describe the operation state exactly in order to performed precision inserting operation by the robot. But in the case where the environment of the operation is uncertain, it is difficult to describe the contact state between the peg and the hole quantitatively. Therefore, we describe this contact state by means of fuzzy sets linguistically and recognize the transition of the state by using fuzzy pattern matching. The work object is the peg-in-hole operation of three dimensions. The experimental system is constructed of a robot, a force-torque sensor, RCC and a computer. From experimental results of the peg-in-hole, it is shown that the contact state can be recognized effectively by this method.
