Cylinder insertion into hole of flexible rubber plate: path search for local minimum insertion force by shifting fitted zone regression

摘要

We discuss cylinder insertion into a hole of a flexible rubber plate, which is an example of researchthe robot assembly industry requires for dealing with flexible parts using human-like skills. We showthat the magnitude of insertion force expresses a hyperbolic field in three-dimensional spacecomposed of position and posture of a cylinder. The hyperbolic field has a tunneling path from whichcan obtain local minimum insertion force. This path appears to correspond to the position and postureof cylinder insertion using human skill. We propose a search for the tunneling path that uses a simpleregression model that fits the hyperbolic field to a narrow zone. The fitting zone shifts as cylinderinsertion advances. Results show that regression is a possible search method for the tunneling path.