力制御の特性を活用したPeg-in-Holeにおける軌道計画法の提案  [in Japanese] Trajectory Planning utilizing Characteristics of Force Control for Peg-in-Hole Task  [in Japanese]

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Abstract

<p>The trajectory planning of assembly tasks, which demand high precision, such as peg-in-hole task, requires consideration on errors driven from robot control and the environmental model. This research proposes a trajectory planning method in peg-in-hole task, taking positively advantage of the trail of force control. We confirmed that the proposed method realized the peg-in-hole task. In addition, admittance control succeeded in the task in smaller contact force than position control.</p>

Journal

  • The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2019(0), 2A2-C16, 2019

    The Japan Society of Mechanical Engineers

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