Modeling Precision Insertion Tasks Based on Sensory Measurements

摘要

This paper investigates a high-precision insertion process from the viewpoint of sensory information. Tolerance considered in the present study is approximately 5 μm. Currently the assembly task is being conducted by skilled human workers. In order to analyze the insertion task, we focus on force and moment information and inclination measurements. Conventional approach, i.e., a position-based analysis, is not appropriate for such a narrow dimensional tolerance because it is unlikely that human operators conduct the task based on position information. This paper presents a newly developed, high-sensitivity moment sensor and experimental results in high-precision insertion tasks by which the insertion tasks are analyzed based on measurements of ferees, moments and part configurations.