Precision Insertion Control Robot and Its Application

Takeyasu, Kiyoo; Goto, Tatsuo; Inoyama, T.

doi:10.1115/1.3439106

Cited by 32 publications

(6 citation statements)

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“…4. It is difficult to achieve fine position control due to insertion (9)(10)(11)(12)(13)(14)(15) This method also has some constraints (1): the high inertia of the robot.…”

Section: Active Accommodation Used In the Robotic Peg-holementioning

confidence: 99%

Fine Motion Strategies for Robotic Peg-Hole Insertion

Qiao

Dalay

Parkin

1995

Proceedings of the Institution of Mechanical Engineers, Part C:

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The robotic assembly operation has a prominent role in industry due to the fact that (a) it accounts for a substantial proportion of production cycle times and (b) it requires high precision. The peg-hole insertion operation, which is a simplified industrial application model, has special prominence. In terms of the hardware, various complex six-component force sensors, passive compliance and vibration systems haoe been designed for this purpose alone. In the control area, the disturbancefilter and real-time control have been applied to the system to enhance performance. Techniques using geometric concepts such as pre-images and back-projections, models of the contact configurations, pattern recognition andfine motion analysis have been studied. The objective of this paper is to illustrate a method that combines these ideas together ro solve practical problems. In this paper: 1. General contact configurations and contact motions between the peg and hole are presented. An important problem in the identification of the contact configuration according to the force sensors is studied. It is concluded thatthe complete identification of the contact configuration should depend not only on the signalsfrom the force sensors but also on the knowledge about the range of the initial state of the peg and clever utilization of the environment. Various strategies with and without force sensors are proposed. Motion and model analysis is used to study the general identificationand motion problems in the peg-hole insertion system. Pre-image and back-projection concepts are employed to enable practical implementation of the method which used Petri nets. Selecting the configuration parameters that can be (a) easily measured and (b) used to decide the incremental motion steps through the procedure were found to be complex and critical tasks that enabled success. These strategies have been verified through experimental trials. It is apparent that thefine motion strategy has a wide application in the robotic peg-hole insertion operation.

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“…4. It is difficult to achieve fine position control due to insertion (9)(10)(11)(12)(13)(14)(15) This method also has some constraints (1): the high inertia of the robot.…”

Section: Active Accommodation Used In the Robotic Peg-holementioning

confidence: 99%

Fine Motion Strategies for Robotic Peg-Hole Insertion

Qiao

Dalay

Parkin

1995

Proceedings of the Institution of Mechanical Engineers, Part C:

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“…They are limited in high-speed and/or precision insertion, because they can hardly have desired damping characteristics to prevent the vibration of elastic parts. Takeyasu et al (1976), and Watson (1982) studied some hybrid assembly methods in which passive compliance and force control were both used. Hybrid methods solve some problems of passive compliance but not all, because they are not free from the disadvantages of both force control and passive compliance.…”

Section: Introductionmentioning

confidence: 99%

“…First, Nevins and Whitney (1973), Takeyasu et al (1976), Whitney (1976), Stokic and Vukobratovic (1979) worked on force control to correct misalignments by the sensory feedback of the insertion force. In those days, however, neither robots nor digital controllers could achieve such force control well.…”

Section: Introductionmentioning

confidence: 99%

Magnetic Levitation Servo for Flexible Assembly Automation

Tsuda

Higuchi

Fujiwara

1992

The International Journal of Robotics Research

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Active magnetic levitation with servo control has the inherent potential to be a friction-free, backlash-free, lubrication-free, and precision multi-degree-of-freedom (DOF) actuator with the capability of multi-axis force sensing. However, magnetic levitation has been conventionally used only for contactless suspension such as magnetic bearings and magnetically levitated vehicles. This article develops an application of magnetic levitation for actuation and force sensing and calls such a system magnetic levitation servo to distinguish from conventional suspension-only systems.On the other hand, flexible assembly automation is a technical and engineering challenge to be accomplished promptly. For this purpose, the authors have developed a Magnetically end-effector-levitating Instrument for a Skilled-Taskundertaking Expert Robot (MEISTER) by applying magnetic levitation servo.The MEISTER is located between a wrist and an end effector in a manipulator to levitate and control the end effector by magnetic forces without any mechanical contact. This frictionfree and backlash-free mechanism enables precision control of multi-DOFs and permits the MEISTER to have three versatilely functional properties: (1) programmable compliance: the compliance and viscous damping of supporting an end effector are magnetically changeable by software; (2) precision multi-DOF actuation: the position and attitude of an end effector can be accurately controlled without friction or backlash by changing magnetic forces; and (3) multi-axis force sensing: external forces and moments acting on an end effector can be computed by the MEISTER without any additional sensory equipments from the force equivalent equation. By using these functional properties, the MEISTER can correct a minute misalignment between a couple of mating parts to automate precision insertion.To investigate the fundamental performance of the MEISTER in experiments, a prototype of a 5-DOF controllable MEISTER is developed. The experiments have shown the following results :1. The MEISTER can be used as an advanced/active Remote Center Compliance (RCC) device. 2. The prototype can quickly position the 5-DOF of a mating part with 1-μm resolution. 3. It can measure a five-axis resultant force acting on a part with a resolution of about 0.04N and 0.001 N m. 4. It can successfully perform the RCC assembly method, the ideal RCC method, and the float method in precision insertion operations with the clearance ratio of 0.0004 (where a workpiece has a 20-mm diameter and the clearance is 8 μm.)

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“…9 and Fig. 10 illustrates what kind of motion sequences the skilled subject and the unskilled subject 2 Note that X and Y force components use a different force scale from Z component does. In both figures, the abscissa and the ordinate represent the inclinations of the insertion jig, i.e., the polygon mirror, about X-axis and Y-axis, respectively.…”

Section: Resultsmentioning

confidence: 99%

“…Peg insertion task has a long history in the field of robotics and automation research [2,3,4,5,6,7,8,9,10,11,12,13,14]. It is one of the most commonly used goal tasks.…”

Section: Related Previous Workmentioning

confidence: 99%